阅读说明：本技术 光探测方法、光探测装置和移动平台 (Optical detection method, optical detection device and mobile platform ) 是由 李涛 洪小平 陈涵 于 2018-10-31 设计创作，主要内容包括：一种光探测方法(300,400,600)、光探测装置(100,200,700,800,900)和移动平台(1000),可以提高光探测的精度。光探测方法包括：获取进行光探测时的环境参数(310)；根据获取的环境参数,确定用于进行光探测的工作参数；基于确定的工作参数,进行光探测,其中,光探测用于基于发射的脉冲序列以及经反射物反射的脉冲序列计算光探测装置与反射物之间的距离(330)。(A light detection method (300, 400, 600), a light detection apparatus (100, 200, 700, 800, 900) and a mobile platform (1000) can improve the accuracy of light detection. The optical detection method comprises the following steps: acquiring environmental parameters (310) during optical detection; determining working parameters for optical detection according to the acquired environmental parameters; based on the determined operating parameter, performing light detection, wherein the light detection is used for calculating a distance (330) between the light detection device and the reflector based on the emitted pulse sequence and the pulse sequence reflected by the reflector.)

A method of light detection, comprising:

acquiring environmental parameters during optical detection;

determining working parameters for optical detection according to the acquired environmental parameters;

and performing light detection based on the determined operating parameter, wherein the light detection is used for calculating the distance between the light detection device and the reflector based on the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The method of claim 1, wherein the operating parameter comprises at least one of:

parameters when the pulse sequence is transmitted, parameters when the electric signal converted from the reflected pulse sequence is sampled, parameters for processing the result obtained by sampling the electric signal, and parameters for processing the image obtained by arranging the point cloud information based on the position.

The method of claim 2, wherein the parameters when transmitting the pulse sequence comprise at least one of:

the power of the emitted pulse sequence, the frequency of the emitted pulse sequence, the speed at which the emission path of the pulse sequence changes, the scanning range or the scanning pattern of the emitted pulse sequence.

A method according to claim 2 or 3, wherein the parameters at which the electrical signal into which the reflected pulse sequence is converted is sampled comprise:

a sampling frequency at which the electrical signal is sampled; and/or a minimum sampling threshold for sampling the electrical signal into which the reflected pulse sequence is converted.

The method according to any one of claims 2 to 4, wherein the parameters for processing the results of sampling the electrical signal comprise at least one of:

parameters for filtering the result obtained by sampling, and parameters for amplifying the electric signal obtained by sampling.

The method of claim 5, wherein the parameters for filtering the results obtained from the sampling comprise:

a return time range and/or a return distance range corresponding to the waveform to be subjected to filtering judgment and a set first peak value threshold value;

when the target waveform is judged to be filtered, when the target waveform does not trigger the first peak value threshold value, the target waveform is determined to be filtered, wherein the return time and/or the return distance of the target waveform are/is within the return time range and/or the return distance range.

The method of claim 5, wherein the parameters for filtering the results obtained from the sampling comprise:

the results are filtered out of the model used.

The method of claim 7, wherein said performing optical detection based on said determined operating parameter comprises:

inputting a result obtained by sampling into the model to obtain an output result, wherein the output result indicates whether the result obtained by sampling is filtered or not or a probability value required to be filtered;

and processing the result obtained by sampling based on the output result.

The method according to any one of claims 5 to 8, wherein the parameters for amplifying the electrical signal obtained by sampling comprise:

and (3) the magnification of the electric signal obtained by sampling.

The method according to any one of claims 2 to 9, wherein the parameter for processing the image obtained by arranging the point cloud information based on the position comprises:

a return distance range corresponding to a point needing to be filtered and judged on the image, a distance difference threshold value and/or a reflectivity difference threshold value between the point needing to be filtered and an adjacent point;

when the target point is filtered and judged, when the distance difference and/or the reflectivity difference between the target point and the adjacent point is larger than or equal to the distance threshold and/or the reflectivity threshold, the target point to be filtered is determined.

The method of any one of claims 1 to 10, wherein the obtaining environmental parameters for light detection comprises:

the environmental parameter is obtained from an external device over a communication link.

The method of any one of claims 1 to 11, wherein the environmental parameter comprises an environmental type; and/or, a degree characterizing quantity for a particular type of environment.

The method according to claim 12, wherein the working parameters corresponding to different environment types and/or different degree characterizing quantity intervals have different values.

The method of claim 13, wherein the environmental parameters comprise weather parameters and/or light parameters.

The method of claim 13 or 14, wherein the weather parameter comprises a weather type, the weather type being: rain, snow, fog, haze or sand storms.

The method of claim 15, wherein the weather type is rain, and the obtaining environmental parameters for light detection comprises:

and acquiring rainfall through a windscreen wiper of the vehicle-mounted equipment or a vehicle-mounted rain gauge.

A method of light detection, comprising:

acquiring environmental parameters during optical detection;

determining a working mode for carrying out optical detection according to the acquired environmental parameters, wherein different working modes correspond to different working parameters;

and performing light detection based on the determined working mode, wherein the light detection is used for calculating the distance between the light detection device and the reflector based on the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The method of claim 17, wherein the different operating modes differ in at least one of the following operating parameters:

the power of the transmit pulse sequence;

the frequency at which the pulse sequence is transmitted;

the scanning range or scanning pattern of the outgoing pulse sequence;

the amplification factor of the electrical signal converted from the reflected pulse sequence;

a sampling frequency at which the electrical signal into which the reflected pulse sequence is converted is sampled;

a minimum sampling threshold for sampling the electrical signal into which the reflected pulse sequence is converted;

and a filtering strategy, wherein the filtering strategy is used for filtering a processing result corresponding to the reflected pulse sequence.

The method according to claim 17 or 18, wherein determining the operation mode for performing the light detection according to the acquired environmental parameter comprises:

determining a mode for carrying out light detection as a special weather working mode according to the acquired environmental parameters;

wherein, in the special weather operation mode, the light detection comprises:

converting the reflected pulse sequence into an electrical signal;

determining whether to filter the electric signals and filtering the electric signals needing to be filtered according to a filtering strategy;

the reflectors corresponding to the electric signals needing to be filtered are particle objects in special weather, and the reflectors corresponding to the electric signals needing not to be filtered are normal objects.

The method of claim 19, wherein the filtering policy comprises a first filtering policy that indicates: and when the distance between the reflector corresponding to the electric signal and the optical detection device is within a first distance threshold and the peak value of the electric signal is smaller than a first peak value threshold, determining that the electric signal needs to be filtered.

The method of claim 20, wherein the special weather operation modes comprise at least two special weather operation modes, and the at least two special weather operation modes comprise special weather operation modes corresponding to different weather types or special weather operation modes of different degrees of the same weather type;

wherein, the first distance threshold and/or the first peak threshold are different under different special weather operation modes.

The method of claim 19, wherein the filtering policy comprises a second filtering policy, the second filtering policy indicating:

and determining the probability of whether the electric signal is filtered or not or the probability of filtering the electric signal by using a filtering model, wherein the filtering model comprises the parameter characteristics of the electric signal when the reflector is a normal object and/or the parameter characteristics of the electric signal when the reflector is a particle object in special weather.

The method of claim 22, further comprising:

and performing cluster analysis on the electric signals corresponding to the normal objects and the electric signals corresponding to the particle objects in the special weather by using a machine learning method, and training the filtering model on line.

The method of claim 17 or 18, wherein the optical detection comprises:

sampling the electric signal converted from the reflected pulse sequence to obtain a sampling result;

calculating the distance between a reflector corresponding to the pulse sequence and the light detection device according to the sampling result to obtain a point cloud, wherein each point in the point cloud comprises the distance information between the light detection device and one reflector;

mapping the point cloud within a certain time length into a frame of image;

and filtering the noise of the image according to the filtering strategy.

The method of claim 24, wherein each of said dots further comprises a reflectivity of said one of said reflectors.

The method according to claim 24 or 25, wherein determining the operation mode for performing light detection according to the acquired environmental parameter comprises:

determining a mode for carrying out light detection as a special weather working mode according to the acquired environmental parameters;

wherein, in the special weather operation mode, the light detection comprises:

and filtering points of particle objects in the image, which belong to special weather, according to the filtering strategy.

The method of claim 26, wherein the filtering strategy comprises a third filtering strategy, wherein the third filtering strategy indicates that: the distance indicated by the distance information contained in the point needing to be filtered is within the second distance threshold, and the difference value between the distance indicated by the distance information contained in the point needing to be filtered and the distance indicated by the distance information contained in the adjacent point is smaller than or equal to the third distance threshold.

The method of claim 27, wherein the special weather operation modes comprise at least two special weather operation modes, and the at least two special weather operation modes comprise special weather operation modes corresponding to different weather types or different degrees of special weather operation modes of the same weather type;

wherein, in different special weather operation modes, the second distance threshold value and/or the third distance threshold value are different.

The method of any one of claims 17 to 28, wherein said obtaining an environmental parameter at the time of optical detection comprises:

the environmental parameter is obtained from an external device over a communication link.

The method of any one of claims 17 to 29, wherein the environmental parameters include an environmental type; and/or, a degree-characterizing quantity under a particular environmental type.

The method of claim 30, wherein different environmental types and/or different severity-characterizing intervals correspond to different operating modes.

The method of claim 31, wherein the environmental parameters comprise weather parameters and/or light parameters.

The method of claim 31 or 32, wherein the weather parameter comprises a weather type, the weather type being: rain, snow, fog, haze or sand storms.

The method of claim 33, wherein the weather type is rain, and the obtaining environmental parameters for light detection comprises:

and acquiring rainfall through a windscreen wiper of the vehicle-mounted equipment or a vehicle-mounted rain gauge.

The method of claim 17, wherein the operating mode comprises at least one of: a strong light mode, a normal light mode, and a dark light mode.

The method of claim 35, wherein determining the operation mode for performing the light detection according to the acquired environmental parameter comprises:

and when the current ambient light intensity is detected to be smaller than a first preset value, or when the duration of the current ambient light intensity continuously smaller than the first preset value reaches a first duration, or according to the current local time, selecting to enter a dim light mode.

The method of claim 35, wherein determining the operation mode for performing the light detection according to the acquired environmental parameter comprises:

and when the current ambient light intensity is detected to be greater than a second preset value, or when the duration that the current ambient light intensity is continuously greater than the second preset value reaches a second duration, selecting to enter the strong light mode.

A method of light detection, comprising:

emitting a sequence of light pulses;

performing photoelectric conversion on the pulse sequence to obtain an electric signal;

sampling the electrical signal to obtain a sampled waveform;

inputting the sampling waveform into a filtering model to obtain an output result, wherein the output result indicates whether the sampling waveform is filtered or not or a probability value required to be filtered;

processing the waveform based on the output result.

The method of claim 38, further comprising:

and training the filtering model on line by using a machine learning algorithm.

The method of claim 38 or 39, wherein processing the waveform based on the output comprises:

when the output result indicates that the probability needing filtering is greater than a preset value, continuing to perform filtering judgment;

and processing the waveform based on the filtering judgment result.

The method of claim 38 or 39, wherein processing the waveform based on the output comprises:

and when the output result indicates that the probability needing filtering is smaller than a preset value, not filtering the waveform.

A light detection device, comprising:

the acquisition module is used for acquiring environmental parameters during optical detection;

the determining module is used for determining working parameters for optical detection according to the environmental parameters acquired by the acquiring module;

and the optical detection module is used for carrying out optical detection on the basis of the working parameters determined by the determination module, wherein the optical detection is used for calculating the distance between the optical detection device and the reflector on the basis of the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The apparatus of claim 42, wherein the operating parameter comprises at least one of:

parameters when the pulse sequence is transmitted, parameters when the electric signal converted from the reflected pulse sequence is sampled, parameters for processing the result obtained by sampling the electric signal, and parameters for processing the image obtained by arranging the point cloud information based on the position.

The apparatus of claim 43, wherein the parameters when transmitting the pulse sequence comprise at least one of:

the power of the emitted pulse sequence, the frequency of the emitted pulse sequence, the speed at which the emission path of the pulse sequence changes, the scanning range or the scanning pattern of the emitted pulse sequence.

The apparatus according to claim 43 or 44, wherein the parameters when sampling the electrical signal into which the reflected pulse sequence is converted comprise:

a sampling frequency at which the electrical signal is sampled; and/or a minimum sampling threshold for sampling the electrical signal into which the reflected pulse sequence is converted.

The apparatus according to any one of claims 43 to 45, wherein the parameters for processing the results of sampling the electrical signal comprise at least one of:

parameters for filtering the result obtained by sampling, and parameters for amplifying the electric signal obtained by sampling.

The apparatus of claim 45, wherein the parameters for filtering the results obtained from the sampling comprise:

a return time range and/or a return distance range corresponding to the waveform to be subjected to filtering judgment and a set first peak value threshold value;

when the target waveform is judged to be filtered, when the target waveform does not trigger the first peak value threshold value, the target waveform is determined to be filtered, wherein the return time and/or the return distance of the target waveform are/is within the return time range and/or the return distance range.

The apparatus of claim 45, wherein the parameters for filtering the results obtained from the sampling comprise:

the results are filtered out of the model used.

The apparatus of claim 48, wherein the light detection module is further configured to:

inputting a result obtained by sampling into the model to obtain an output result, wherein the output result indicates whether the result obtained by sampling is filtered or not or a probability value required to be filtered;

and processing the result obtained by sampling based on the output result.

The apparatus according to any one of claims 46 to 49, wherein the parameters for amplifying the electrical signal obtained by sampling comprise:

and (3) the magnification of the electric signal obtained by sampling.

The apparatus according to any one of claims 43 to 50, wherein the parameters for processing the image obtained by arranging the point cloud information based on the position comprise:

a return distance range corresponding to a point needing to be filtered and judged on the image, a distance difference threshold value and/or a reflectivity difference threshold value between the point needing to be filtered and an adjacent point;

when the target point is filtered and judged, when the distance difference and/or the reflectivity difference between the target point and the adjacent point is larger than or equal to the distance threshold and/or the reflectivity threshold, the target point to be filtered is determined.

The apparatus of any one of claims 42 to 51, wherein the obtaining module is further configured to:

the environmental parameter is obtained from an external device over a communication link.

The apparatus of any one of claims 42 to 52, wherein the environment parameter comprises an environment type; and/or, a degree characterizing quantity for a particular type of environment.

The apparatus of claim 53, wherein the operating parameters corresponding to different environmental types and/or different degree characterization quantity intervals have different values.

The apparatus of claim 54, wherein the environmental parameters comprise weather parameters and/or light parameters.

The apparatus of claim 54 or 55, wherein the weather parameter comprises a weather type, the weather type being: rain, snow, fog, haze or sand storms.

The apparatus of claim 56, wherein the weather type is rain, and wherein the obtaining module is further configured to:

and acquiring rainfall through a windscreen wiper of the vehicle-mounted equipment or a vehicle-mounted rain gauge.

The apparatus of any one of claims 42 to 57, wherein the light detection module comprises a detector;

the light detection device further includes:

a light source for emitting a sequence of light pulses;

the scanning module comprises at least one optical element which moves relative to the light source and is used for sequentially changing the light pulse sequence from the light source to different propagation directions to be emitted; the light pulse sequence reflected by the reflector is incident to the detector after passing through the scanning module;

the detector is used for calculating the distance between the light detection device and the reflector based on the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The apparatus according to claim 58 wherein the scanning module comprises at least two rotating prisms sequentially positioned on the propagation path of the optical pulse train for sequentially changing the optical pulse train to different propagation directions.

A light detection device, comprising:

the acquisition module is used for acquiring environmental parameters during optical detection;

the determining module is used for determining a working mode for carrying out optical detection according to the environmental parameters acquired by the acquiring module, wherein different working modes correspond to different working parameters;

and the optical detection module is used for carrying out optical detection based on the working mode determined by the determination module, wherein the optical detection is used for calculating the distance between the optical detection device and the reflector based on the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The device of claim 60, wherein the different operating modes differ in at least one of the following operating parameters:

the power of the transmit pulse sequence;

the frequency at which the pulse sequence is transmitted;

the scanning range or scanning pattern of the outgoing pulse sequence;

the amplification factor of the electrical signal converted from the reflected pulse sequence;

a sampling frequency at which the electrical signal into which the reflected pulse sequence is converted is sampled;

a minimum sampling threshold for sampling the electrical signal into which the reflected pulse sequence is converted;

and a filtering strategy, wherein the filtering strategy is used for filtering a processing result corresponding to the reflected pulse sequence.

The apparatus of claim 60 or 61, wherein the determining module is further configured to:

determining a mode for carrying out light detection as a special weather working mode according to the environmental parameters acquired by the acquisition module;

wherein, in the special weather operation mode, the light detection comprises:

converting the reflected pulse sequence into an electrical signal;

determining whether to filter the electric signals and filtering the electric signals needing to be filtered according to a filtering strategy;

the reflectors corresponding to the electric signals needing to be filtered are particle objects in special weather, and the reflectors corresponding to the electric signals needing not to be filtered are normal objects.

The apparatus of claim 62, wherein the filtering strategy comprises a first filtering strategy, and wherein the first filtering strategy indicates: and when the distance between the reflector corresponding to the electric signal and the optical detection device is within a first distance threshold and the peak value of the electric signal is smaller than a first peak value threshold, determining that the electric signal needs to be filtered.

The apparatus of claim 63, wherein the special weather operation modes comprise at least two special weather operation modes, and the at least two special weather operation modes comprise special weather operation modes corresponding to different weather types or different degrees of special weather operation modes of the same weather type;

wherein, the first distance threshold and/or the first peak threshold are different under different special weather operation modes.

The apparatus of claim 62, wherein the filtering policy comprises a second filtering policy, and wherein the second filtering policy indicates:

and determining the probability of whether the electric signal is filtered or not or the probability of filtering the electric signal by using a filtering model, wherein the filtering model comprises the parameter characteristics of the electric signal when the reflector is a normal object and/or the parameter characteristics of the electric signal when the reflector is a particle object in special weather.

The apparatus of claim 65, further comprising a training module to:

and performing cluster analysis on the electric signals corresponding to the normal objects and the electric signals corresponding to the particle objects in the special weather by using a machine learning device, and training the filtering model on line.

The apparatus of claim 60 or 61, wherein the optical detection comprises:

sampling the electric signal converted from the reflected pulse sequence to obtain a sampling result;

calculating the distance between a reflector corresponding to the pulse sequence and the light detection device according to the sampling result to obtain a point cloud, wherein each point in the point cloud comprises the distance information between the light detection device and one reflector;

mapping the point cloud within a certain time length into a frame of image;

and filtering the noise of the image according to the filtering strategy.

The apparatus of claim 67, wherein each dot further comprises a reflectivity of the one reflector.

The apparatus of claim 67 or 68, wherein the determining module is further configured to:

determining a mode for carrying out light detection as a special weather working mode according to the environmental parameters acquired by the acquisition module;

wherein, in the special weather operation mode, the light detection comprises:

and filtering points of particle objects in the image, which belong to special weather, according to the filtering strategy.

The apparatus of claim 69, wherein the filtering strategy comprises a third filtering strategy, and wherein the third filtering strategy indicates: the distance indicated by the distance information contained in the point needing to be filtered is within the second distance threshold, and the difference value between the distance indicated by the distance information contained in the point needing to be filtered and the distance indicated by the distance information contained in the adjacent point is smaller than or equal to the third distance threshold.

The apparatus of claim 70, wherein the special weather operation modes comprise at least two special weather operation modes, and the at least two special weather operation modes comprise special weather operation modes corresponding to different weather types or different degrees of special weather operation modes of the same weather type;

wherein, in different special weather operation modes, the second distance threshold value and/or the third distance threshold value are different.

The apparatus of any one of claims 60 to 71, wherein the obtaining module is further configured to:

the environmental parameter is obtained from an external device over a communication link.

The apparatus of any one of claims 60 to 72, wherein the environmental parameter comprises an environmental type; and/or, a degree-characterizing quantity under a particular environmental type.

The device of claim 73, wherein different environmental types and/or different severity-characterizing intervals correspond to different operating modes.

The apparatus of claim 74, wherein the environmental parameters comprise weather parameters and/or light parameters.

The apparatus of claim 74 or 75, wherein the weather parameter comprises a weather type, the weather type being: rain, snow, fog, haze or sand storms.

The apparatus of claim 76, wherein the weather type is rain, and wherein the obtaining module is further configured to:

and acquiring rainfall through a windscreen wiper of the vehicle-mounted equipment or a vehicle-mounted rain gauge.

The device of any one of claims 60 to 77, wherein the light detection module comprises a detector;

the light detection device further includes:

a light source for emitting a sequence of light pulses;

the scanning module comprises at least one optical element which moves relative to the light source and is used for sequentially changing the light pulse sequence from the light source to different propagation directions to be emitted; the light pulse sequence reflected by the reflector is incident to the detector after passing through the scanning module;

the detector is used for calculating the distance between the light detection device and the reflector based on the emitted pulse sequence and the pulse sequence reflected by the reflector.

The apparatus according to claim 78 wherein the scanning module comprises at least two rotating prisms sequentially positioned on the propagation path of the optical pulse train for sequentially changing the optical pulse train to different propagation directions.

The device of any one of claims 60 to 79, wherein the operating modes include at least one of: a strong light mode, a normal light mode, and a dark light mode.

The apparatus according to claim 80, wherein the determining the operation mode for performing the light detection according to the acquired environmental parameter comprises:

and when the current ambient light intensity is detected to be smaller than a first preset value, or when the duration of the current ambient light intensity continuously smaller than the first preset value reaches a first duration, or according to the current local time, selecting to enter a dim light mode.

The apparatus according to claim 80, wherein the determining the operation mode for performing the light detection according to the acquired environmental parameter comprises:

and when the current ambient light intensity is detected to be greater than a second preset value, or when the duration that the current ambient light intensity is continuously greater than the second preset value reaches a second duration, selecting to enter the strong light mode.

A light detection device, comprising:

a transmitting module for transmitting a sequence of light pulses;

the photoelectric conversion module is used for performing photoelectric conversion on the pulse sequence to obtain an electric signal;

the sampling module is used for sampling the electric signal to obtain a sampling waveform;

the filtering module is used for inputting the sampling waveform into a filtering model to obtain an output result, and the output result indicates whether the sampling waveform is filtered or not or the probability value required to be filtered;

and the processing module is used for processing the waveform based on the output result.

The apparatus of claim 83, further comprising a training module to:

and training the filtering model on line by using a machine learning algorithm.

The apparatus of claim 83 or 84, wherein the processing module is further configured to:

when the output result indicates that the probability needing filtering is greater than a preset value, continuing to perform filtering judgment;

and processing the waveform based on the filtering judgment result.

The apparatus of claim 83 or 84, wherein the processing module is further configured to:

and when the output result indicates that the probability needing filtering is smaller than a preset value, not filtering the waveform.

The apparatus of any one of claims 83 to 86, wherein the light detection apparatus further comprises:

the scanning module comprises at least one optical element which moves relative to the light source and is used for sequentially changing the light pulse sequence from the light source to different propagation directions to be emitted; the light pulse sequence reflected by the reflector passes through the scanning module and then enters the photoelectric conversion module;

the processing module is used for calculating the distance between the light detection device and the reflector based on the transmitted pulse sequence and the pulse sequence reflected by the reflector.

The apparatus according to claim 87 wherein the scanning module comprises at least two rotating prisms sequentially positioned on the propagation path of the optical pulse train for sequentially changing the optical pulse train to different propagation directions.

A mobile platform, characterized in that it comprises a light detection device according to any one of claims 42 to 88.