Mobile platform and TOF measurement device

Abstract

A mobile platform (100) and a TOF measurement device (20). The mobile platform (100) comprises a platform body (10) and the TOF measurement device (20) disposed on the platform body (10) and comprising at least two transmitters (21) and two fisheye receivers (22). All the transmitters (21) of the mobile platform (100) are spaced apart from each other, the total measurement range of the at least two transmitters (21) can cover 360 degrees in the horizontal direction and 360 degrees in the vertical direction of a surrounding environment of the mobile platform (100), the total measurement range of the two fisheye receivers (22) can cover 360 degrees in the horizontal direction and 360 degrees in the vertical direction of the surrounding environment of the mobile platform (100), and the at least two transmitters (21) and the two fisheye receivers (22) work in conjunction to perform omnidirectional sensing over 360 degrees in the horizontal and vertical directions of the surrounding environment of the mobile platform (100).

Description

Mobile platform and TOF detection device Technical Field

[0001] This application relates to the field of mobile device technology, and more particularly to a mobile platform and a TOF detection device. Background Technology

[0002] The principle of Time-of-Flight (TOF) distance measurement devices is as follows: the transmitter emits a light signal, and the receiver receives the light signal reflected from the object. Based on the received light signal, the travel time (round trip) of the light signal is determined, thus obtaining the distance between the TOF device and the object. However, when TOF devices are applied to mobile platforms, the FOV (Field of View) angle of the receiver is relatively small. If 360° omnidirectional sensing in the desired direction is required, the hardware cost of the TOF device is high. Summary of the Invention

[0003] This application provides a mobile platform and a TOF detection device, which aims to reduce hardware cost, size, or weight while achieving 360° omnidirectional perception in the required direction.

[0004] The first embodiment of this application provides a mobile platform, including:

[0005] Platform entity;

[0006] A TOF detection device is located on the main body of the platform. The TOF detection device includes at least two transmitters and two fisheye receivers. The transmitters are used to emit light signals, and the fisheye receivers are used to receive light signals reflected back by objects.

[0007] In this system, all the transmitters of the mobile platform are spaced apart from each other. The total detection range of at least two transmitters can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The total detection range of the two fisheye receivers can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The cooperation of at least two transmitters and two fisheye receivers enables omnidirectional perception of the surrounding environment of the mobile platform in both the horizontal and vertical directions.

[0008] The technical solution provided by the embodiments of this application enables 360° full coverage of the surrounding environment of the mobile platform in any direction by the cooperation of two fisheye receivers and at least two transmitters. Therefore, the TOF detection device only needs to set two fisheye receivers to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform in both horizontal and vertical directions. Furthermore, while achieving 360° omnidirectional perception in both horizontal and vertical directions, the number of fisheye receivers can be reduced, thereby reducing the hardware cost of the mobile platform and reducing its weight and size.

[0009] The second embodiment of this application provides a mobile platform, including:

[0010] Platform entity;

[0011] A TOF detection device is located on the main body of the platform. The TOF detection device includes at least two transmitters and two fisheye receivers. The transmitters are used to emit light signals, and the fisheye receivers are used to receive light signals reflected back by objects.

[0012] The main receiving directions of the two fisheye receivers are both oriented towards the side of the mobile platform, and the side is not parallel to the yaw axis of the mobile platform. The total detection range of the at least two transmitters can cover a 360° horizontal range of the surrounding environment of the mobile platform, and the total detection range of the two fisheye receivers can cover a 360° horizontal range of the surrounding environment of the mobile platform. The cooperation of the at least two transmitters and the two fisheye receivers can enable omnidirectional perception of the 360° horizontal range of the surrounding environment of the mobile platform.

[0013] The technical solution provided by the embodiments of this application allows for a TOF detection device that includes at least two transmitters and two fisheye receivers. The main receiving direction of the two fisheye receivers faces the side of the mobile platform. The two fisheye receivers and the at least two transmitters work together to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform. Therefore, the TOF detection device only needs to be equipped with two fisheye receivers to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform. Furthermore, while achieving 360° omnidirectional perception, the number of fisheye receivers can be reduced, thereby reducing the hardware cost of the mobile platform and lightening its weight and size.

[0014] The third embodiment of this application provides a TOF detection device, including:

[0015] At least two transmitters and two fisheye receivers, the transmitters being used to transmit light signals and the fisheye receivers being used to receive light signals reflected back by an object, wherein the TOF detection device can be mounted on the platform body of a movable platform;

[0016] In this system, all the transmitters of the mobile platform are spaced apart from each other. The total detection range of at least two transmitters can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The total detection range of the two fisheye receivers can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The cooperation of at least two transmitters and two fisheye receivers enables omnidirectional perception of the surrounding environment of the mobile platform in both the horizontal and vertical directions.

[0017] The technical solution provided by this application embodiment enables the TOF detection device to achieve 360° full coverage of the surrounding environment of the mobile platform in any direction by using two fisheye receivers and at least two transmitters. Therefore, the TOF detection device only needs to be equipped with two fisheye receivers to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform in both horizontal and vertical directions. Furthermore, while achieving 360° omnidirectional perception in both horizontal and vertical directions, the number of fisheye receivers can be reduced, thereby reducing the hardware cost of the TOF detection device and reducing its weight and size.

[0018] The fourth embodiment of this application provides a TOF detection device, including:

[0019] At least two transmitters and two fisheye receivers, the transmitters being used to transmit light signals and the fisheye receivers being used to receive light signals reflected back by an object, wherein the TOF detection device can be mounted on the platform body of a movable platform;

[0020] The main receiving directions of the two fisheye receivers are both oriented towards the side of the mobile platform, and the side is not parallel to the yaw axis of the mobile platform. The total detection range of the at least two transmitters can cover a 360° horizontal range of the surrounding environment of the mobile platform, and the total detection range of the two fisheye receivers can cover a 360° horizontal range of the surrounding environment of the mobile platform. The cooperation of the at least two transmitters and the two fisheye receivers can enable omnidirectional perception of the 360° horizontal range of the surrounding environment of the mobile platform.

[0021] The technical solution provided by the embodiments of this application allows for a TOF detection device that includes at least two transmitters and two fisheye receivers. The main receiving direction of the two fisheye receivers faces the side of the movable platform. The two fisheye receivers and the at least two transmitters work together to achieve 360° omnidirectional perception of the surrounding environment of the movable platform from the side. Therefore, the TOF detection device only needs to be equipped with two fisheye receivers to achieve 360° omnidirectional perception of the surrounding environment of the movable platform from the side. Furthermore, while achieving 360° omnidirectional perception from the side, the number of fisheye receivers can be reduced, thereby reducing the hardware cost of the TOF detection device and reducing its weight and size.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0025] Figure 2 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0026] Figure 3 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0027] Figure 4 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0028] Figure 5 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0029] Figure 6(A) is a schematic diagram of a movable platform provided in an embodiment of this application;

[0030] Figure 6(B) is a schematic diagram of a movable platform provided in an embodiment of this application;

[0031] Figure 7 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0032] Figure 8 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0033] Figure 9 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0034] Figure 10 is a schematic diagram of a movable platform provided in an embodiment of this application;

[0035] Figure 11 is a schematic diagram of a mobile platform provided in an embodiment of this application.

[0036] Explanation of reference numerals in the attached drawings: 100, movable platform; 10, platform body; 11, fuselage; 12, arm; 13, power system; 131, propeller; 14, landing gear; 20, TOF detection device; 21, transmitter; 211, first transmitter; 212, second transmitter; 213, third transmitter; 22, fisheye receiver. Detailed Implementation

[0037] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0038] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] It should also be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a," "an," and "the" are intended to include the plural forms. In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented as: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be a single item or multiple items.

[0040] This application provides a mobile platform. The mobile platform may include at least one of the following: an aircraft, a mobile robot, a vehicle, a ship, etc. The aircraft may include a rotorcraft, a fixed-wing aircraft, or a hybrid fixed-wing / rotorcraft. The aircraft may include manned or unmanned aircraft. The rotorcraft may include a single-rotor or multi-rotor aircraft, and the multi-rotor aircraft may include: a dual-rotor, a tri-rotor, a quadcopter, a hexacopter, an octacopter, a decacopter, a dodecacopter, etc. The mobile robot includes at least one of the following: a cleaning robot, a service robot, etc. The cleaning robot can be used for cleaning operations, improving cleaning efficiency and reducing manual labor. The cleaning robot may include at least one of the following: a sweeper, a floor scrubber, a mop, etc. The service robot is used for at least one of the following: catering, delivery, transportation, etc., to provide convenient services.

[0041] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] Understandably, in related technologies, when TOF detection devices are applied to mobile platforms, the FOV angle of the receivers of the TOF detection devices is relatively small. If 360° omnidirectional perception in both the horizontal and vertical directions is required, a large number of receivers need to be set up for the TOF detection devices, resulting in higher hardware costs, size, and weight for the mobile platforms.

[0043] Referring to Figures 1 and 2, one embodiment of this application provides a mobile platform 100, including a platform body 10 and a Time-of-Flight (TOF) detection device 20. The TOF detection device 20 is disposed on the platform body 10 and includes at least two transmitters 21 and two fisheye receivers 22. The transmitters 21 are used to emit light signals, and the fisheye receivers 22 are used to receive light signals reflected back from objects. All transmitters 21 of the mobile platform 100 are spaced apart from each other. The total detection range of the at least two transmitters 21 can cover a 360° horizontal and 360° vertical range of the surrounding environment of the mobile platform 100. The total detection range of the two fisheye receivers 22 can also cover a 360° horizontal and 360° vertical range of the surrounding environment of the mobile platform 100. The cooperation of the at least two transmitters 21 and the two fisheye receivers 22 enables omnidirectional sensing of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions.

[0044] In the above embodiment, the mobile platform 100, since the total detection range of at least two transmitters 21 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, and the total detection range of two fisheye receivers 22 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, the cooperation of at least two transmitters 21 and two fisheye receivers 22 can achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions. Therefore, the TOF detection device 20 only needs to set two fisheye receivers 22 to achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions. Furthermore, while achieving omnidirectional perception in both the horizontal and vertical directions, the number of fisheye receivers 22 can be reduced, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100. In addition, since all the transmitters 21 of the mobile platform 100 are spaced apart from each other, it is advantageous to use as few transmitters 21 as possible to cover the horizontal and vertical 360° ranges of the surrounding environment of the mobile platform 100, thereby further reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and further reducing the weight and volume of the mobile platform 100.

[0045] For example, all transmitters 21 of the mobile platform 100 are spaced apart from each other, meaning that all transmitters 21 are not adjacent or in contact with each other, and there is a certain space or positional interval between the installation positions of any two transmitters 21. For example, all transmitters 21 can be installed in different positions of the mobile platform 100, and these different positions are not the same and are spatially separated. For example, all transmitters 21 include 6 transmitters, which are installed in six different positions on the mobile platform 100: front, back, left, right, top, and bottom, to sense environmental information in different directions of the mobile platform and achieve omnidirectional perception.

[0046] For example, the mobile platform 100 includes an aircraft. The total detection range of at least two transmitters 21 can cover the horizontal and vertical 360° range of the aircraft's surrounding environment. The total detection range of two fisheye receivers 22 can also cover the horizontal and vertical 360° range of the aircraft's surrounding environment. The cooperation of at least two transmitters 21 and two fisheye receivers 22 enables omnidirectional perception of the aircraft's surrounding environment in both the horizontal and vertical directions. Therefore, the TOF detection device 20 only needs to be equipped with two fisheye receivers 22 to achieve omnidirectional perception of the aircraft's surrounding environment in both the horizontal and vertical directions. Furthermore, while achieving omnidirectional perception in both the horizontal and vertical directions, the number of fisheye receivers 22 can be reduced, thereby reducing the hardware cost of the TOF detection device 20 and the aircraft, and reducing the weight and volume of the aircraft. The reduction in the weight of the aircraft also helps to extend the aircraft's endurance.

[0047] Referring to Figure 3, in some embodiments, the mobile platform 100 includes an aircraft, the platform body 10 of which includes a fuselage 11 and arms 12 connected to the fuselage 11. The arms 12 and fuselage 11 may be detachably connected; alternatively, they may be non-detachably connected. The arms 12 and fuselage 11 may be movably connected, and their relative positions can be adjusted when connected. In some embodiments, the arms 12 are movably connected to the fuselage 11 so that the arms 12 can be deployed or folded. The number of arms 12 can be designed according to actual needs, such as one, two, three, four, or more. Exemplarily, the number of arms 12 includes multiple arms extending radially from the fuselage 11.

[0048] Referring to Figure 3, in some embodiments, the platform body 10 includes a power system 13, which is used to drive the aircraft to fly or to drive the movement of a component of the aircraft. The power system 13 can be a power mechanism that utilizes a motor, engine, electronic components, magnetic mechanisms, gravity, wind power, fuel, and / or other substances or components to provide a power source. Referring to Figure 3, exemplarily, the power system 13 may include a power motor (not shown) and a propeller 131, the power motor driving the propeller 131 to rotate, thereby providing power for the aircraft's flight.

[0049] In some embodiments, the sum of the field of view angles of the two fisheye receivers 22 in the horizontal and vertical directions is greater than or equal to 360°. For example, the sum of the field of view angles of the two fisheye receivers 22 in the horizontal direction is greater than or equal to 360°, so that the total detection range of the two fisheye receivers 22 can cover a 360° horizontal range of the surrounding environment of the mobile platform 100, ensuring that at least two transmitters 21 and two fisheye receivers 22 can cooperate to achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in the horizontal direction. For example, the sum of the field of view angles of the two fisheye receivers 22 in the vertical direction is greater than or equal to 360°, so that the total detection range of the two fisheye receivers 22 can cover a 360° vertical range of the surrounding environment of the mobile platform 100, ensuring that at least two transmitters 21 and two fisheye receivers 22 can cooperate to achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in the vertical direction.

[0050] In some embodiments, the vertical field of view of the fisheye receiver 22 is greater than or equal to 180°, and the horizontal field of view of the fisheye receiver 22 is greater than or equal to 360°. Thus, a single fisheye receiver 22 can cover a large area, which, while minimizing blind spots, helps to reduce the number of fisheye receivers 22, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and size of the mobile platform 100.

[0051] In some embodiments, the horizontal field of view of the fisheye receiver 22 is greater than or equal to 180°, and the vertical field of view of the fisheye receiver 22 is greater than or equal to 360°. Thus, a single fisheye receiver 22 can cover a large area, which, while minimizing blind spots, helps to reduce the number of fisheye receivers 22, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100. Exemplarily, the horizontal field of view of the fisheye receiver 22 is greater than or equal to 180°, and the horizontal field of view of the fisheye receiver 22 is less than or equal to 360°; for example, the horizontal field of view of each fisheye receiver 22 is 180°, 185°, or 200°. Exemplarily, the vertical field of view of the fisheye receiver 22 is greater than or equal to 360°, and the vertical field of view of the fisheye receiver 22 is less than 450°; for example, the vertical field of view of each fisheye receiver 22 is 360°.

[0052] In some embodiments, the fisheye receiver 22 includes a fisheye ITOF (Indirect Time of Flight) receiver or a fisheye DTOF (Direct Time of Flight) receiver. Exemplarily, the TOF detection device 20 can use either the ITOF or DTOF method to measure the distance between the TOF detection device 20 and an object. In the ITOF method, the transmitter 21 of the TOF detection device 20 emits an amplitude-modulated continuous light signal (such as a sine wave or square wave), and the fisheye receiver 22 receives the signal phase returned from the object, thereby determining the distance between the TOF detection device 20 and the object based on the received signal phase. Exemplarily, the fisheye receiver 22 includes a fisheye ITOF receiver. Thus, the TOF detection device 20 can use the ITOF method to measure the distance between the TOF detection device 20 and the object, accumulating light signals over a period of time without requiring strong optical power or light signal energy, thus placing lower sensitivity requirements on the fisheye receiver 22.

[0053] For example, in the DTOF method, the transmitter 21 of the TOF detection device 20 emits a light pulse signal, and the fisheye receiver 22 receives the light signal reflected from the object. The distance between the TOF detection device 20 and the object is determined based on the light pulse signal emitted by the transmitter 21 and the light signal received by the fisheye receiver 22. For example, the fisheye receiver 22 includes a fisheye DTOF receiver. Thus, the TOF detection device 20 can use the DTOF method to measure the distance between the TOF detection device 20 and the object. This distance measurement method has a longer measurement distance, higher measurement accuracy, and faster measurement speed.

[0054] The positions of the two fisheye receivers 22 can be set according to actual needs. Referring to Figure 2, in some embodiments, the two fisheye receivers 22 are distributed along a preset direction. For example, the preset direction may include the vertical or horizontal direction of the movable platform 100.

[0055] For example, the vertical direction of the movable platform 100 refers to the direction from the top of the movable platform 100 through the bottom of the movable platform 100, and the horizontal direction of the movable platform refers to the direction perpendicular to the vertical direction, which may refer to the direction from the head of the movable platform 100 through the tail of the movable platform 100, or the direction from the left side of the movable platform 100 through the right side of the movable platform 100.

[0056] For example, the vertical direction of the mobile platform 100 refers to the vertical direction of the mobile platform 100 when it is not activated or when its position remains unchanged in a windless environment. The horizontal direction of the mobile platform 100 refers to the horizontal direction of the mobile platform 100 when it is not activated or when its position remains unchanged in a windless environment. For example, if the mobile platform 100 includes an aircraft, the vertical direction of the mobile platform 100 refers to the vertical direction of the aircraft when it is hovering, and the horizontal direction of the mobile platform 100 refers to the horizontal direction of the aircraft when it is hovering.

[0057] Referring to Figure 2, in some embodiments, the preset direction includes the vertical direction of the movable platform 100, and two fisheye receivers 22 are respectively located above and below the platform body 10. The placement of the two fisheye receivers 22 above and below the platform body 10 minimizes the obstruction of the fisheye receivers 22's field of view by the platform body 10, thus facilitating 360° omnidirectional perception of the surrounding environment of the movable platform 100 in both horizontal and vertical directions. For example, two fisheye receivers 22 are respectively disposed above and below the platform body 10. The horizontal field of view of each fisheye receiver 22 can cover a 360° horizontal range of the surrounding environment of the movable platform 100; the vertical field of view of one fisheye receiver 22 can cover a portion of the 360° vertical range of the surrounding environment of the movable platform 100, and the vertical field of view of the other fisheye receiver 22 can cover the remaining portion of the 360° vertical range of the surrounding environment of the movable platform 100. The sum of the vertical field of view of the two fisheye receivers 22 can cover the 360° vertical range of the surrounding environment of the movable platform 100, thereby enabling at least two transmitters 21 and two fisheye receivers 22 to cooperate in omnidirectional perception of the surrounding environment of the movable platform 100 in both the horizontal and vertical directions. For example, the horizontal field of view of each fisheye receiver 22 is greater than or equal to 360°, for example, the horizontal field of view of each fisheye receiver 22 is 360°. For example, the vertical field of view of each fisheye receiver 22 is greater than or equal to 180° and less than 360°. For instance, the vertical field of view of each fisheye receiver 22 is 185° or 200°. For example, the preset direction is the Z direction as shown in Figure 1 or Figure 2. For example, the vertical direction of the movable platform 100 is shown as the Z direction as shown in Figure 1 or Figure 2.

[0058] In some embodiments, the vertical direction of the movable platform 100 includes the yaw axis direction. Typically, the vertical height of the movable platform 100 is less than its horizontal width or length. This minimizes the obstruction of the fisheye receiver 22's field of view by the platform body 10, facilitating 360° omnidirectional perception of the surrounding environment in both horizontal and vertical directions. Furthermore, it avoids obstructing the fisheye receiver 22's field of view by the platform body 100, thereby maximizing the unobstructed sensing range of the fisheye receiver 22. For example, the yaw axis direction of the movable platform 100 is shown as the Z direction in Figure 2.

[0059] Please refer to Figure 4, which is a side view of the mobile platform. In some embodiments, the preset direction includes the horizontal direction of the mobile platform 100, and the two fisheye receivers 22 are arranged in the horizontal direction. This is beneficial to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions using as few fisheye receivers 22 as possible. For example, the vertical field of view of each fisheye receiver 22 can cover a 360° vertical range of the surrounding environment of the movable platform 100; the horizontal field of view of one fisheye receiver 22 can cover a portion of the 360° horizontal range of the surrounding environment of the movable platform 100, and the horizontal field of view of the other fisheye receiver 22 can cover the remaining portion of the 360° horizontal range of the surrounding environment of the movable platform 100. The sum of the horizontal field of view of the two fisheye receivers 22 can cover a 360° horizontal range of the surrounding environment of the movable platform 100, thereby enabling at least two transmitters 21 and two fisheye receivers 22 to cooperate in omnidirectional perception of the surrounding environment of the movable platform 100 in both the horizontal and vertical directions of 360°. For example, the vertical field of view of each fisheye receiver 22 is greater than or equal to 360°, for example, the vertical field of view of each fisheye receiver 22 is 360°. For example, the horizontal field of view of each fisheye receiver 22 is greater than or equal to 180° and less than 360°, such as 185° or 200°. For example, the horizontal direction of the movable platform 100 is perpendicular to its vertical direction. For example, the vertical direction of the movable platform 100 is shown as the Z direction in FIG. 4. For example, the horizontal direction of the movable platform 100 is perpendicular to its yaw axis direction. For example, the horizontal direction of the movable platform 100 is perpendicular to the Z direction in FIG. 4.

[0060] In some embodiments, the horizontal direction of the movable platform 100 includes the roll axis direction of the movable platform 100. This facilitates accurate perception of the surrounding environment in the roll axis direction of the movable platform 100 and helps to reduce the size of the movable platform 100 in the vertical direction. For example, the roll axis direction of the movable platform 100 is shown as the X direction in FIG4.

[0061] In some embodiments, the horizontal direction of the movable platform 100 includes the pitch axis direction of the movable platform 100. This facilitates accurate perception of the surrounding environment along the pitch axis direction of the movable platform 100 and helps to reduce the size of the movable platform 100 along the vertical direction. For example, the pitch axis direction of the movable platform 100 is shown as the Y direction in FIG4.

[0062] Referring to Figure 4, in some embodiments, two fisheye receivers 22 are respectively located at the front and rear of the platform body 10. This facilitates accurate perception of the surrounding environment in front of and behind the movable platform 100, and helps to reduce the vertical dimension of the movable platform 100. The front of the platform body 10 can be, for example, the direction in which the load is set. The load can be, for example, the main imaging sensor, which can be directly mounted or mounted on the platform body 10 via an attitude adjustment structure (e.g., a gimbal or a robotic arm). Optionally, the front of the platform body 10 can be a default defined main direction. Optionally, if the movable platform 100 includes an aircraft, the front of the platform body 10 can also be the nose direction of the aircraft. The rear of the platform body 10 can be the opposite direction to the front of the platform body 10.

[0063] Referring to Figure 5, in some embodiments, two fisheye receivers 22 are respectively located on the left and right sides of the platform body 10. This facilitates accurate perception of the surrounding environment to the left and right of the movable platform 100, and also helps to reduce the vertical dimension of the movable platform 100.

[0064] In some embodiments, the main receiving directions of the two fisheye receivers 22 are not parallel to a preset direction. For example, the main receiving directions of the two fisheye receivers 22 form an angle greater than 0 degrees and less than 90 degrees with the preset direction. This allows for flexible placement of the two fisheye receivers 22, reducing the assembly difficulty between the TOF detection device 20 and the platform body 10. For instance, the angle between the main receiving directions of the two fisheye receivers 22 and the preset direction can be 5 degrees, 30 degrees, 60 degrees, 80 degrees, or any other suitable angle between 0 and 90 degrees. For example, the main receiving directions of the two fisheye receivers 22 form an angle greater than 0 degrees and less than 45 degrees with the preset direction. For instance, the angle between the main receiving directions of the two fisheye receivers 22 and the preset direction can be 5 degrees, 15 degrees, 30 degrees, 40 degrees, or any other suitable angle between 0 and 45 degrees. Referring to Figure 6(A), exemplarily, the movable platform 100 includes an aircraft with a preset orientation that is the vertical direction of the aircraft, such as the yaw axis. The main receiving directions of the two fisheye receivers 22 are not parallel to the yaw axis of the aircraft. For example, the two fisheye receivers 22 are respectively distributed above and below the aircraft, and the main receiving directions of the two fisheye receivers 22 each form a 5-degree angle with the yaw axis of the aircraft. Among them, the main receiving direction e1 of the fisheye receiver 22 located above the aircraft forms an angle α with the yaw axis of the aircraft, which is approximately 5°, biased towards the forward direction of the aircraft. Thus, when the aircraft is flying forward, its attitude is not aligned front to back. Typically, when the aircraft is flying forward... The nose of the aircraft is lower than the tail, resulting in a forward-lower and rearward-high attitude. By positioning the main receiving direction of the fisheye receiver 22 at an angle biased towards the forward direction of the aircraft's yaw axis, the main receiving direction of the fisheye receiver 22 located above the aircraft can be closer to the front of the aircraft during forward flight. This allows the most effective sensing range of the fisheye receiver 22 located above to be used for forward environmental sensing. The most effective sensing range of the fisheye receiver 22 is often a small area close to the main receiving direction. For example, if the horizontal sensing range of the fisheye receiver 22 is 360°, the most effective sensing range of the fisheye receiver 22 is the 50° range in the center.Furthermore, the main receiving direction e2 of the fisheye receiver 22 located below the aircraft forms an angle β with the yaw axis of the aircraft, which is approximately 5° away from the aircraft's rearward direction. This means that when the aircraft is flying forward, its attitude is not perfectly aligned front to back; typically, when the aircraft is forward, its nose is lower than its tail, resulting in a forward-lower-rear-high attitude. By setting the main receiving direction of the fisheye receiver 22 at an angle towards the yaw axis, the main receiving direction of the fisheye receiver 22 is positioned closer to the rear of the aircraft during forward flight. This allows for optimal use of the most effective sensing range within the fisheye receiver 22 for rearward environmental sensing. For example, the sensing range of the fisheye receiver 22 is shown in f of Figure 6(A). The sensing range of the transmitter 21 is shown in g of Figure 6(A). Furthermore, the main receiving direction of the upper fisheye receiver 22 can be angled with the yaw axis of the aircraft towards the rear direction. This allows the main receiving direction of the upper fisheye receiver 22 to be closer to the rear of the aircraft during forward flight, thus maximizing the use of the most effective sensing range of the upper fisheye receiver 22 for rearward environmental sensing. Conversely, the main receiving direction of the lower fisheye receiver 22 can be angled with the yaw axis of the aircraft towards the forward direction. This allows the main receiving direction of the lower fisheye receiver 22 to be closer to the front of the aircraft during forward flight, thus maximizing the use of the most effective sensing range of the lower fisheye receiver 22 for forward environmental sensing.

[0065] In other embodiments, the main receiving directions of the two fisheye receivers 22 are parallel to a preset direction.

[0066] For example, the main receiving direction of the fisheye receiver 22 is the optical axis direction of the fisheye receiver 22. For example, the main receiving direction of the fisheye receiver 22 is the symmetry axis or central axis direction of the receiving field of view of the fisheye receiver 22.

[0067] In some embodiments, the sum of the horizontal field of view of at least two transmitters 21 is greater than or equal to 360°, so that the light signals emitted by at least two transmitters 21 can fully cover the horizontal direction of the surrounding environment of the mobile platform 100 in 360°, thereby ensuring that at least two transmitters 21 and two fisheye receivers 22 can cooperate to perform omnidirectional perception of the horizontal direction of the surrounding environment of the mobile platform 100 in 360°.

[0068] In some embodiments, the sum of the vertical field of view of at least two transmitters 21 is greater than or equal to 360°, so that the light signals emitted by at least two transmitters 21 can fully cover the vertical direction of the surrounding environment of the mobile platform 100 in 360°, thereby ensuring that at least two transmitters 21 and two fisheye receivers 22 can cooperate to perform omnidirectional perception of the vertical direction of the surrounding environment of the mobile platform 100 in 360°.

[0069] In some embodiments, each transmitter 21 has the same horizontal field of view. This simplifies the design of the TOF detection device 20, facilitates the maintenance, replacement, or manufacturing of the transmitter 21, and makes the assembly of the TOF detection device 20 with the platform body 10 simpler, thereby reducing production and maintenance costs.

[0070] In some embodiments, at least two of the at least two transmitters 21 have different horizontal field of view angles. Transmitters 21 with different horizontal field of view angles can cover different spatial ranges, thus optimizing spatial coverage by adjusting the horizontal field of view angles of the transmitters 21 without increasing the number of transmitters 21. Furthermore, by rationally configuring transmitters 21 with different horizontal field of view angles, blind spots can be reduced, and the sensing capability of the mobile platform 100 can be improved.

[0071] In some embodiments, each transmitter 21 has the same vertical field of view. This simplifies the design of the TOF detection device 20, facilitates the maintenance, replacement, or manufacturing of the transmitter 21, and makes the assembly of the TOF detection device 20 with the platform body 10 simpler, thereby reducing production and maintenance costs.

[0072] In some embodiments, at least two of the at least two transmitters 21 have different vertical field of view angles. Transmitters 21 with different vertical field of view angles can cover different spatial ranges, thus optimizing spatial coverage by adjusting the vertical field of view angles of the transmitters 21 without increasing the number of transmitters 21. Furthermore, by rationally configuring transmitters 21 with different vertical field of view angles, blind spots can be reduced, and the sensing capability of the mobile platform 100 can be improved.

[0073] Referring to Figure 5, in some embodiments, at least two of all transmitters 21 are located at different positions on the movable platform 100. For example, at least two of all transmitters 21 can be independently installed at different positions on the movable platform 100. In this way, the position of each transmitter 21 can be designed based on actual product needs, making the design of the transmitters 21 more flexible.

[0074] For example, at least two of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21 while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least two of the transmitters 21 are located above, below, in front of, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21 while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front of, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100.

[0075] Referring to Figure 1, in some embodiments, at least three of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least three of the transmitters 21 are located above, below, in front of, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front of, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100.

[0076] Referring to Figure 1, in some embodiments, at least four of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least four of the transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, improving the perception capability of the movable platform 100.

[0077] In some embodiments, at least five of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21 while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least five of the transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21 while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100.

[0078] In some embodiments, at least six of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least six of the transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100. For example, there are a total of six transmitters 21. One transmitter 21 is arranged above, below, in front, behind, to the left, and to the right of the movable platform 100. The sensing range of each transmitter 21 is 90° horizontally and 90° vertically. Thus, the transmission range of the four transmitters 21 located in front, behind, to the left, and to the right of the movable platform 100 can cover the horizontal 360° range around the movable platform 100, and the transmission range of the six transmitters 21 located above, below, in front, behind, to the left, and to the right of the movable platform 100 can cover the vertical 360° range around the movable platform 100. Therefore, omnidirectional sensing of the horizontal and vertical 360° around the movable platform 100 can be achieved using two fisheye receivers 22 and six transmitters 21.

[0079] In some embodiments, all transmitters 21 are located on different sides of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. In some embodiments, all transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. In addition, it also helps to more accurately perceive the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, improving the perception capability of the movable platform 100.

[0080] In some embodiments, the number of at least two transmitters 21 is n, where n is a natural number, and the horizontal field of view of each transmitter 21 is greater than or equal to 360° / n; and / or, the vertical field of view of each transmitter 21 is greater than or equal to 360° / n, which is beneficial to ensure that the total detection range of at least two transmitters 21 can cover the surrounding environment of the movable platform 100 in the horizontal and / or vertical directions of 360°. Exemplarily, n ≥ 2 and is a natural number. For example, if n is 2, the horizontal field of view of each transmitter 21 is greater than or equal to 180°, for example, 180° or 200°; and / or, the vertical field of view of each transmitter 21 is greater than or equal to 180°, for example, 180° or 200°. For example, if n is 3, the horizontal field of view of each transmitter 21 is greater than or equal to 120°, for example, 130° or 140°; and / or, the vertical field of view of each transmitter 21 is greater than or equal to 120°, for example, 130° or 140°. As another example, if n is 4, the horizontal field of view of each transmitter 21 is greater than or equal to 90°, for example, 90° or 100°; and / or, the vertical field of view of each transmitter 21 is greater than or equal to 90°, for example, 90° or 100°.

[0081] In some embodiments, the number of at least two transmitters 21 is n, and the number of transmitters 21 located on the sides of the platform body 10 is m, where m is less than or equal to n, and m and n are natural numbers. The horizontal field of view of each transmitter 21 is greater than or equal to 360° / m; and / or, the vertical field of view of each transmitter 21 is greater than or equal to 360° / m, so that the total detection range of the at least two transmitters 21 can cover a 360° horizontal and / or vertical range of the surrounding environment of the movable platform 100. For example, if each transmitter has a horizontal field of view of 60 degrees and a vertical field of view of 60 degrees, then six transmitters need to be set in the horizontal direction, and the total detection range of these six horizontally set transmitters can cover a 360° horizontal range of the movable platform 100. Correspondingly, six transmitters also need to be set in the vertical direction, and the total detection range of these six horizontally set transmitters can cover a 360° vertical range of the movable platform 100. The specific number of transmitters can be designed based on the size of the horizontal and vertical field of view of each transmitter, as long as the total detection range of all transmitters 21 can cover the 360° range in the horizontal direction and the 360° range in the vertical direction of the movable platform 100.

[0082] Referring to Figure 6(B), in some embodiments, at least two transmitters 21 include a first transmitter 211 and a plurality of second transmitters 212. One fisheye receiver 22 is capable of receiving the light signals emitted by the first transmitter 211 and the plurality of second transmitters 212, and another fisheye receiver 22 is capable of receiving the light signals emitted by at least the plurality of second transmitters 212. This allows for the use of fewer transmitters 21 and fisheye receivers 22, enabling at least two transmitters 21 and two fisheye receivers 22 to cooperate in 360° omnidirectional perception of the surrounding environment of the mobile platform 100 in both horizontal and vertical directions. This minimizes the hardware cost of the TOF detection device 20 and the mobile platform 100, and also minimizes the weight and size of the mobile platform 100.

[0083] Please refer to Figure 6(B). In some embodiments, at least two transmitters 21 include a first transmitter 211 and a plurality of second transmitters 212, wherein the horizontal field of view of the first transmitter 211 and / or the second transmitter 212 is greater than or equal to 120°; and / or, the vertical field of view of the first transmitter 211 and / or the second transmitter 212 is greater than or equal to 120°. For example, the first transmitter 211 is located above or below the platform body 10, and multiple second transmitters 212 are located at least two of the front, rear, left, and right sides of the platform body 10. The horizontal field of view of the first transmitter 211 and / or the second transmitter 212 is greater than or equal to 120°; and / or, the vertical field of view of the first transmitter 211 and / or the second transmitter 212 is greater than or equal to 120°, so as to ensure that the total detection range of at least two transmitters 21 can cover the horizontal 360° range and / or vertical 360° range of the surrounding environment of the mobile platform 100, thereby providing a guarantee for realizing 360° omnidirectional perception in both the horizontal and vertical directions; and in the case of achieving coverage of the horizontal 360° range and / or vertical 360° range, the number of transmitters 21 is small, the hardware cost of the TOF detection device 20 and the mobile platform 100 is low, and the weight and volume of the mobile platform 100 are small.

[0084] The number of second transmitters 212 may include two, three, four, or more. In other embodiments, the number of second transmitters 212 may also be one.

[0085] In some embodiments, at least two transmitters 21 include a first transmitter 211 and a plurality of second transmitters 212, with the number of second transmitters 212 including three. Thus, while ensuring that the total detection range of each transmitter 21 can cover a horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 is reduced, which helps to lower the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduce the weight and volume of the mobile platform 100. Exemplarily, each second transmitter 212 is located at least one of the side, top, or bottom of the platform body 10. The side of the platform body 10 includes at least one of the front, rear, left, and right sides of the platform body 10.

[0086] In some embodiments, the number of at least two transmitters 21 is four, with one first transmitter 211 and three second transmitters 212. Thus, while ensuring that the total detection range of each transmitter 21 can cover a 360° horizontal and 360° vertical range of the surrounding environment of the mobile platform 100, the number of transmitters 21 is reduced, which helps to lower the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduce the weight and volume of the mobile platform 100.

[0087] In some embodiments, two fisheye receivers 22 are respectively positioned above and below the platform body 10, a first transmitter 211 is positioned above or below the platform body 10, and three second transmitters 212 are respectively positioned in front of, behind, to the left of, and to the right of the platform body 10. This allows for a reasonable arrangement of the transmitters 21's positions to minimize obstruction of their coverage by the platform body 10, ensuring that the total detection range of at least two transmitters 21 covers both the horizontal and vertical 360° ranges of the surrounding environment of the movable platform 100. Furthermore, while ensuring that the total detection range of at least two transmitters 21 covers both the horizontal and vertical 360° ranges of the surrounding environment of the movable platform 100, the number of transmitters 21 can be minimized, thereby reducing the hardware cost of the TOF detection device 20 and the movable platform 100, and reducing the weight and volume of the movable platform 100. For example, the total number of transmitters 21 includes four: one first transmitter 211 and three second transmitters 212. The first transmitter 211 is located above the platform body 10, and the three second transmitters 212 are located in three of the following positions: in front, behind, to the left, and to the right of the platform body 10. The first transmitter 211 has a horizontal field of view of 120° and a vertical field of view of 120°. The second transmitters 212 have a horizontal field of view greater than or equal to 120° and a vertical field of view of 120°. The angle is equal to 120°; the main transmission direction of the three second transmitters 212 is tilted downward towards the movable platform 100, so that the transmission range of the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100, and the transmission range of the first transmitter 211 and the three second transmitters 212 can cover the vertical 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and four transmitters 21.

[0088] In some embodiments, two fisheye receivers 22 are respectively located at the front and rear of the platform body 10, a first transmitter 211 is located at the front or rear of the platform body 10, and three second transmitters 212 are respectively located at three of the following positions: above, below, left, and right of the platform body 10. In this way, while ensuring that the total detection range of each transmitter 21 covers a 360° horizontal and 360° vertical range of the surrounding environment of the movable platform 100, the number of transmitters 21 can be minimized, thereby reducing the hardware cost of the TOF detection device 20 and the movable platform 100, and reducing the weight and volume of the movable platform 100. For example, the total number of transmitters 21 includes four: one first transmitter 211 and three second transmitters 212. The first transmitter 211 is located in front of the platform body 10, and the three second transmitters 212 are spaced apart above, below, and to the left of the platform body 10. The first transmitter 211 has a horizontal field of view of 120° and a vertical field of view of 120°. The second transmitters 212 have a horizontal field of view greater than or equal to 120° and a vertical field of view of 120°. 0°; The main transmission direction of the three second transmitters 212 is tilted towards the rear of the movable platform 100, so that the transmission range of the three second transmitters 212 can cover the vertical 360° range around the movable platform 100, and the transmission range of the first transmitter 211 and the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and four transmitters 21.

[0089] In some embodiments, two fisheye receivers 22 are respectively located on the left and right sides of the platform body 10, a first transmitter 211 is located on the left or right side of the platform body 10, and three second transmitters 212 are respectively located above, below, in front of, and behind the platform body 10. In this way, while ensuring that the total detection range of each transmitter 21 can cover the surrounding environment of the movable platform 100 in both the horizontal and vertical directions, the number of transmitters 21 can be minimized, thereby reducing the hardware cost of the TOF detection device 20 and the movable platform 100, and reducing the weight and volume of the movable platform 100. For example, the total number of transmitters 21 includes four: one first transmitter 211 and three second transmitters 212. The first transmitter 211 is located on the left side of the platform body 10, and the three second transmitters 212 are spaced apart above, below, and in front of the platform body 10. The first transmitter 211 has a horizontal field of view of 120° and a vertical field of view of 120°. The second transmitters 212 have a horizontal field of view greater than or equal to 120° and a vertical field of view of 120°. 0°; The main transmission direction of the three second transmitters 212 is tilted to the right of the movable platform 100, so that the transmission range of the three second transmitters 212 can cover the vertical 360° range around the movable platform 100, and the transmission range of the first transmitter 211 and the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and four transmitters 21.

[0090] Referring to Figure 7, in some embodiments, at least two transmitters 21 include a first transmitter 211 and multiple second transmitters 212, and at least two transmitters 21 also include a third transmitter 213. One fisheye receiver 22 is capable of receiving the light signals emitted by the first transmitter 211 and multiple second transmitters 212, and another fisheye receiver 22 is capable of receiving the light signals emitted by the third transmitter 213 and multiple second transmitters 212. In this way, a smaller number of transmitters 21 can be used to achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both horizontal and vertical directions, with the first transmitter 211, second transmitters 212, third transmitter 213, and two fisheye receivers 22 working together. The smaller number of transmitters 21 can reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduce the weight and volume of the mobile platform 100.

[0091] In some embodiments, the horizontal field of view of the first transmitter 211, the second transmitter 212, and / or the third transmitter 213 is greater than or equal to 120°; and / or, the vertical field of view of the first transmitter 211, the second transmitter 212, and / or the third transmitter 213 is greater than or equal to 120°. This ensures that the total detection range of at least two transmitters 21 can cover a 360° horizontal and / or 360° vertical range of the surrounding environment of the mobile platform 100, thereby guaranteeing omnidirectional perception in both the horizontal and vertical directions. Furthermore, while achieving coverage of the 360° horizontal and / or 360° vertical range, the number of transmitters 21 is relatively small, which helps reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and decreases the weight and volume of the mobile platform 100.

[0092] Understandably, the number of second transmitters 212 may include two, three, four, or more. Multiple second transmitters 212 may be arranged at equal or unequal intervals. In other embodiments, the number of second transmitters 212 may also be one.

[0093] In some embodiments, the number of second transmitters 212 includes three. Thus, while ensuring that the total detection range of at least two transmitters 21 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 is small, which is beneficial to reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100.

[0094] In some embodiments, the number of transmitters 21 is five: one first transmitter 211, three second transmitters 212, and one third transmitter 213. Thus, while ensuring that the total detection range of at least two transmitters 21 can cover the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions (360° range), the number of transmitters 21 is reduced. This helps to lower the hardware cost of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and size of the mobile platform 100.

[0095] In some embodiments, two fisheye receivers 22 are respectively positioned above and below the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively positioned above and below the platform body 10, and three second transmitters 212 are respectively positioned in front of, behind, to the left of, and to the right of the platform body 10. This ensures that the detection range of the first transmitter 211 covers at least the area above the platform body 10, and the detection range of the third transmitter 213 covers at least the area below the platform body 10, facilitating accurate perception of the surrounding environment above and below the platform body 10. Furthermore, this configuration allows for a reasonable arrangement of the transmitters 21, enabling the use of as few transmitters 21 as possible to achieve a total detection range of at least two transmitters 21 covering both the horizontal and vertical 360° ranges of the surrounding environment of the movable platform 100. The reduced number of transmitters 21 also helps lower the hardware costs of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. For example, the total number of transmitters 21 includes 5: two first transmitters 211 and three second transmitters 212. The two first transmitters 211 are located above and below the platform body 10, and the three second transmitters 212 are located in front, behind, and to the left of the platform body 10, respectively. The first transmitters 211 have a horizontal field of view of 120° and a vertical field of view of 120°. The second transmitters 212 have a horizontal field of view greater than or equal to 120° and a vertical field of view of 120°. The main firing direction of the two first transmitters 211 located above and below the platform body 10 is tilted towards the right of the movable platform 100, and the main firing direction of the two second transmitters 212 located in front and behind is tilted towards the right. The movable platform 100 is tilted to the right, so that the transmission range of the two first transmitters 211 located above and below the platform body 10 can cover a part of the right side of the movable platform 100, and the two second transmitters 212 located in front and behind the platform body 10 can cover another part of the right side of the movable platform 100. In this way, the transmission range of the two first transmitters 211 and the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100, and the transmission range of the two first transmitters 211 can cover the vertical 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and five transmitters 21.

[0096] In some embodiments, two fisheye receivers 22 are respectively located at the front and rear of the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively located at the front and rear of the platform body 10, and three second transmitters 212 are respectively located above, below, to the left and to the right of the platform body 10. This ensures that the detection range of the first transmitter 211 covers at least the front of the platform body 10, and the detection range of the third transmitter 213 covers at least the rear of the platform body 10, facilitating accurate perception of the surrounding environment in front of and behind the platform body 10. Furthermore, this arrangement allows for a reasonable placement of at least two transmitters 21, enabling the total detection range of at least two transmitters 21 to cover both the horizontal and vertical 360° ranges of the surrounding environment of the movable platform 100 using as few transmitters as possible. The fewer transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. For example, the total number of transmitters 21 includes 5: two first transmitters 211 and three second transmitters 212. The two first transmitters 211 are located in front of and behind the platform body 10, and the three second transmitters 212 are located above, below, and to the left of the platform body 10. The horizontal and vertical field of view of the first transmitters 211 are both 120°. The horizontal and vertical field of view of the second transmitters 212 are both greater than or equal to 120°. The main firing direction of the two second transmitters 212 located above and below the platform body 10 is tilted towards the right of the movable platform 100, and the main firing direction of the two first transmitters 211 located in front of and behind the platform body 10 is tilted towards the right of the movable platform 100. The platform 100 is tilted to the right, so that the transmission range of the two second transmitters 212 located above and below the platform body 10 can cover a part of the right side of the movable platform 100, and the two first transmitters 211 located in front of and behind the platform body 10 can cover another part of the right side of the movable platform 100. Thus, the transmission range of the two first transmitters 211 and the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100, and the transmission range of the two second transmitters 212 located above and below the platform body 10 can cover the vertical 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and five transmitters 21.

[0097] In some embodiments, two fisheye receivers 22 are respectively located on the left and right sides of the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively located on the left and right sides of the platform body 10, and three second transmitters 212 are respectively located above, below, in front of, and behind the platform body 10. This ensures that the detection range of the first transmitter 211 covers at least the left side of the platform body 10, and the detection range of the third transmitter 213 covers at least the right side of the platform body 10, facilitating accurate perception of the surrounding environment to the left and right of the platform body 10. Furthermore, this arrangement allows for a reasonable placement of at least two transmitters 21, enabling the total detection range of at least two transmitters 21 to cover both the horizontal and vertical 360° ranges of the surrounding environment of the movable platform 100 using as few transmitters as possible. The fewer transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. For example, the total number of transmitters 21 includes 5: two first transmitters 211 and three second transmitters 212. The two first transmitters 211 are located on the left and right sides of the platform body 10, and the three second transmitters 212 are located above, below, and in front of the platform body 10, respectively. The horizontal and vertical field of view of the first transmitters 211 are both 120°; the horizontal and vertical field of view of the second transmitters 212 are both greater than or equal to 120°. The main firing direction of the two second transmitters 212 located above and below the platform body 10 is tilted towards the rear of the movable platform 100, and the main firing direction of the two first transmitters 211 located on the left and right sides of the platform body 10 is tilted towards the movable platform 100. The platform 100 is tilted at the rear, so that the transmission range of the two second transmitters 212 located above and below the platform body 10 can cover a part of the area behind the movable platform 100, and the two first transmitters 211 located to the left and right of the platform body 10 can cover another part of the area behind the movable platform 100. Thus, the transmission range of the two first transmitters 211 and the three second transmitters 212 can cover the horizontal 360° range around the movable platform 100, and the transmission range of the two second transmitters 212 located above and below the platform body 10 can cover the vertical 360° range around the movable platform 100. Therefore, it is possible to achieve omnidirectional perception of the horizontal and vertical 360° around the movable platform 100 using two fisheye receivers 22 and five transmitters 21.

[0098] In some embodiments, the horizontal field of view of the first transmitter 211, the second transmitter 212, and / or the third transmitter 213 is greater than or equal to 90°; and / or, the vertical field of view of the first transmitter 211, the second transmitter 212, and / or the third transmitter 213 is greater than or equal to 90°. This is advantageous in using a smaller number of transmitters 21 to ensure that the total detection range of at least two transmitters 21 can cover the horizontal 360° range and / or vertical 360° range of the surrounding environment of the mobile platform 100, thereby providing a guarantee for achieving 360° omnidirectional perception in both the horizontal and vertical directions. The smaller number of transmitters 21 is beneficial in reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100.

[0099] In some embodiments, the number of second transmitters 212 includes four. Thus, while ensuring that the total detection range of at least two transmitters 21 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 is small, which helps to reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduce the weight and volume of the mobile platform 100.

[0100] In some embodiments, the number of transmitters 21 is six: one first transmitter 211, four second transmitters 212, and one third transmitter 213. Thus, while ensuring that the total detection range of at least two transmitters 21 can cover the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions (360° range), the number of transmitters 21 is relatively small. This helps to reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and size of the mobile platform 100.

[0101] In some embodiments, two fisheye receivers 22 are respectively positioned above and below the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively positioned above and below the platform body 10, and four second transmitters 212 are respectively positioned in front of, behind, to the left of, and to the right of the platform body 10. Thus, the detection range of the first transmitter 211 can at least cover the top of the platform body 10, the detection range of the third transmitter 213 can at least cover the bottom of the platform body 10, and the detection range of the four second transmitters 212 can at least cover the front, rear, left, and right of the platform body 10. This facilitates accurate perception of the surrounding environment above, below, in front of, behind, to the left of, and to the right of the platform body 10, improving the perception capability of the movable platform 100. Furthermore, this setup, with its reasonable placement of at least two transmitters 21, allows the total detection range of at least two transmitters 21 to cover both the horizontal and vertical 360° ranges of the surrounding environment of the mobile platform 100 using as few transmitters 21 as possible. The small number of transmitters 21 helps to reduce the hardware costs of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and volume of the mobile platform 100.

[0102] In some embodiments, two fisheye receivers 22 are respectively located at the front and rear of the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively located at the front and rear of the platform body 10, and four second transmitters 212 are respectively located above, below, to the left and to the right of the platform body 10. Thus, the detection range of the first transmitter 211 can at least cover the front of the platform body 10, the detection range of the third transmitter 213 can at least cover the rear of the platform body 10, and the detection range of the four second transmitters 212 can at least cover the top, bottom, left and right of the platform body 10. This facilitates accurate perception of the surrounding environment above, below, in front, behind, to the left and to the right of the platform body 10, improving the perception capability of the movable platform 100. Furthermore, this setup, with its reasonable placement of at least two transmitters 21, allows the total detection range of at least two transmitters 21 to cover both the horizontal and vertical 360° ranges of the surrounding environment of the mobile platform 100 using as few transmitters 21 as possible. The small number of transmitters 21 helps to reduce the hardware costs of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and volume of the mobile platform 100.

[0103] In some embodiments, two fisheye receivers 22 are respectively located on the left and right sides of the platform body 10, a first transmitter 211 and a third transmitter 213 are respectively located on the left and right sides of the platform body 10, and four second transmitters 212 are respectively located above, below, in front of, and behind the platform body 10. Thus, the detection range of the first transmitter 211 can at least cover the left side of the platform body 10, the detection range of the third transmitter 213 can at least cover the right side of the platform body 10, and the detection range of the four second transmitters 212 can at least cover the top, bottom, front, and rear of the platform body 10. This facilitates accurate perception of the surrounding environment above, below, in front of, behind, to the left, and to the right of the platform body 100, improving the perception capability of the movable platform 100. Furthermore, this setup, with its reasonable placement of at least two transmitters 21, allows the total detection range of at least two transmitters 21 to cover both the horizontal and vertical 360° ranges of the surrounding environment of the mobile platform 100 using as few transmitters 21 as possible. The small number of transmitters 21 helps to reduce the hardware costs of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and volume of the mobile platform 100.

[0104] In some embodiments, the transmitter 21 is a fisheye transmitter with a horizontal field of view greater than or equal to 180°, such as 185° or 200°; and / or, a vertical field of view greater than or equal to 180°, such as 185° or 200°. This ensures that the total detection range of at least two transmitters 21 can cover a 360° horizontal and / or 360° vertical range of the surrounding environment of the mobile platform 100, thereby guaranteeing omnidirectional perception in both the horizontal and / or vertical directions. Furthermore, while achieving coverage of the 360° horizontal and / or vertical range, the number of transmitters 21 is small, effectively reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and effectively reducing the weight and volume of the mobile platform 100. For example, the horizontal field of view of the fisheye transmitter is greater than or equal to 180°, and the horizontal field of view of the fisheye transmitter is less than or equal to 250°. For example, the vertical field of view of the fisheye transmitter is greater than or equal to 180°, and the vertical field of view of the fisheye transmitter is less than 180°. For example, the horizontal field of view of the fisheye transmitter is equal to 180°, and the vertical field of view of the fisheye receiver 22 is equal to 180°.

[0105] In some embodiments, the transmitter 21 is a fisheye transmitter, and the number of fisheye transmitters is two. In this way, while ensuring that the total detection range of at least two transmitters 21 can cover a horizontal 360° range and / or a vertical 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 can be minimized, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100 as much as possible, and minimizing the weight and volume of the mobile platform 100.

[0106] In some embodiments, the two fisheye emitters are distributed along a preset direction. Exemplarily, the preset direction may include the vertical or horizontal direction of the movable platform 100.

[0107] In some embodiments, the preset direction includes the vertical direction of the movable platform 100, and two fisheye emitters are respectively disposed above and below the platform body 10. The placement of the two fisheye emitters above and below the platform body 10 minimizes the obstruction of the fisheye emitters' field of view by the platform body 10, thus facilitating 360° omnidirectional perception of the surrounding environment of the movable platform 100 in both horizontal and vertical directions. For example, two fisheye emitters are respectively positioned above and below the platform body 10. The horizontal field of view of each fisheye emitter can cover a 360° horizontal range of the surrounding environment of the movable platform 100; the vertical field of view of one fisheye emitter can cover a portion of the 360° vertical range of the surrounding environment of the movable platform 100, and the vertical field of view of the other fisheye emitter can cover the remaining portion of the 360° vertical range of the surrounding environment of the movable platform 100. The sum of the vertical field of view of the two fisheye emitters can cover the 360° vertical range of the surrounding environment of the movable platform 100, thereby enabling the two fisheye emitters and two fisheye receivers 22 to cooperate in omnidirectional perception of the surrounding environment of the movable platform 100 in both the horizontal and vertical directions. For example, the horizontal field of view of each fisheye emitter is greater than or equal to 360°, for example, the horizontal field of view of each fisheye emitter is 360°. For example, the vertical field of view of each fisheye emitter is greater than or equal to 180° and less than 360°, such as 185° or 200°.

[0108] In some embodiments, the vertical direction of the movable platform 100 includes the yaw axis direction of the movable platform 100. This minimizes the obstruction of the fisheye transmitter's field of view by the platform body 10, facilitating 360° omnidirectional perception of the surrounding environment of the movable platform 100 in both horizontal and vertical directions. Furthermore, it avoids obstructing the fisheye transmitter's emission field of view by the platform body 100, thereby maximizing the unobstructed sensing range of the fisheye transmitter.

[0109] In some embodiments, the preset direction includes the horizontal direction of the movable platform 100, and two fisheye transmitters are arranged along the horizontal direction. The vertical field of view of each fisheye transmitter can cover a 360° vertical range of the surrounding environment of the movable platform 100; the horizontal field of view of one fisheye transmitter can cover a portion of the 360° horizontal range of the surrounding environment of the movable platform 100, and the horizontal field of view of the other fisheye transmitter can cover the remaining portion of the 360° horizontal range of the surrounding environment of the movable platform 100. The sum of the horizontal field of view of the two fisheye transmitters can cover a 360° horizontal range of the surrounding environment of the movable platform 100, thereby ensuring that the two fisheye transmitters and two fisheye receivers 22 cooperate to perform omnidirectional perception of the surrounding environment of the movable platform 100 in both the horizontal and vertical directions (360°). For example, the vertical field of view of each fisheye transmitter is greater than or equal to 360°; for instance, the vertical field of view of each fisheye transmitter is 360°. For example, the horizontal field of view of each fisheye emitter is greater than or equal to 180° and less than 360°, such as 185° or 200°.

[0110] In some embodiments, the horizontal direction of the movable platform 100 includes the roll axis direction of the movable platform 100. This facilitates accurate perception of the surrounding environment in the roll axis direction of the movable platform 100 and helps to reduce the size of the movable platform 100 in the vertical direction.

[0111] In some embodiments, the horizontal direction of the movable platform 100 includes the pitch axis direction of the movable platform 100. This facilitates accurate perception of the surrounding environment in the pitch axis direction of the movable platform 100 and helps to reduce the size of the movable platform 100 in the vertical direction.

[0112] In some embodiments, two fisheye emitters are respectively located at the front and rear of the platform body 10. This facilitates accurate perception of the surrounding environment in front of and behind the movable platform 100, and also helps to reduce the vertical dimension of the movable platform 100.

[0113] In some embodiments, two fisheye emitters are respectively located on the left and right sides of the platform body 10. This facilitates accurate perception of the surrounding environment to the left and right of the movable platform 100, and also helps to reduce the vertical dimension of the movable platform 100.

[0114] In some embodiments, the main emission directions of the two fisheye emitters are not parallel to a preset direction. For example, the main emission direction of emitter 21 / fisheye emitter is the optical axis direction of emitter 21 / fisheye emitter. For example, the main emission direction of emitter 21 / fisheye emitter is the symmetry axis or central axis direction of the emission field of view of emitter 21 / fisheye emitter.

[0115] In some embodiments, the main emission directions of the two fisheye emitters form an angle greater than 0 degrees and less than 90 degrees with a preset direction. This allows for flexible placement of the two fisheye emitters, reducing the assembly difficulty between the TOF detection device 20 and the platform body 10. For example, the angle between the main emission directions of the two fisheye emitters and the preset direction can be 5 degrees, 30 degrees, 60 degrees, 80 degrees, or any other suitable angle between 0 and 90 degrees. For example, the main emission directions of the two fisheye emitters form an angle greater than 0 degrees and less than 45 degrees with the preset direction. For example, the angle between the main emission directions of the two fisheye emitters and the preset direction can be 5 degrees, 15 degrees, 30 degrees, 40 degrees, or any other suitable angle between 0 and 45 degrees. Referring to Figure 6(A), exemplarily, the movable platform 100 includes an aircraft with a preset direction that is the vertical direction of the aircraft, such as the yaw axis. The main emission directions of the two fisheye transmitters are not parallel to the yaw axis of the aircraft. For example, the two fisheye transmitters are respectively distributed above and below the aircraft, and the main emission directions of each fisheye transmitter form an angle of 5 degrees with the yaw axis of the aircraft. Among them, the main emission direction e3 of the fisheye transmitter located above the aircraft forms an angle θ with the yaw axis of the aircraft, which is approximately 5°, biased towards the forward direction of the aircraft. Thus, when the aircraft is flying forward, its attitude is not aligned front to back. Typically, when the aircraft is in front... The nose of the aircraft is lower than the tail, resulting in a forward-lower and rearward-high attitude. By positioning the main launch direction of the fisheye transmitter at an angle biased towards the forward direction of the aircraft's yaw axis, the main launch direction of the upper fisheye transmitter can be closer to the front of the aircraft during forward flight. This allows the most effective sensing range of the upper fisheye transmitter to be used for forward environmental sensing. The most effective sensing range of the fisheye transmitter is often a small area close to the main launch direction. For example, if the horizontal sensing range of the fisheye transmitter is 360°, the most effective sensing range is the central 50° range. In addition, the main emission direction of the fisheye transmitter located below the aircraft forms an angle of approximately 5° with the yaw axis of the aircraft, which is biased towards the rearward direction. Thus, when the aircraft is flying forward, its attitude is not level front to back. Usually, when the aircraft is in front, its nose is lower than its tail, which means that the aircraft has a front-low and rear-high attitude. By making the main emission direction of the fisheye transmitter below form an angle with the yaw axis of the aircraft, which is biased towards the rearward direction, the main emission direction of the fisheye transmitter below can be closer to the rear of the aircraft during forward flight. This allows the most effective sensing range of the fisheye transmitter to be used for rearward environmental sensing.

[0116] In other embodiments, the main emission direction of the two fisheye emitters is parallel to a preset direction.

[0117] In some embodiments, the transmitter 21 may not be a fisheye transmitter, and the main emission direction of the transmitter 21 is not parallel to the preset direction, for example, forming an angle greater than 0 degrees and less than 90 degrees with the preset direction. This allows for flexible placement of the two transmitters 21, reducing the assembly difficulty between the TOF detection device 20 and the platform body 10. For example, the angle between the main emission directions of the two transmitters 21 and the preset direction can be 5 degrees, 30 degrees, 60 degrees, 80 degrees, or any other suitable angle between 0 and 90 degrees. For example, the main emission directions of the two transmitters 21 can form an angle greater than 0 degrees and less than 45 degrees with the preset direction. For example, the angle between the main emission directions of the two transmitters 21 and the preset direction can be 5 degrees, 15 degrees, 30 degrees, 40 degrees, or any other suitable angle between 0 and 45 degrees. Referring to Figure 6(A), exemplarily, the movable platform 100 includes an aircraft with a preset direction that is the vertical direction of the aircraft, such as the yaw axis. The main launch directions of the two transmitters 21 are not parallel to the yaw axis of the aircraft. For example, the two transmitters 21 are respectively distributed above and below the aircraft, and the main launch directions of the two transmitters 21 each form a 5-degree angle with the yaw axis of the aircraft. Among them, the main launch direction e3 of the transmitter 21 located above the aircraft forms an angle θ with the yaw axis of the aircraft, which is approximately 5°, biased towards the forward direction of the aircraft. Thus, when the aircraft is flying forward, its attitude is not aligned front to back. Typically, when the aircraft is in front... The nose of the aircraft is lower than the tail, which means the aircraft has a forward-low and rear-high attitude. The main launch direction of the transmitter 21 is at an angle to the yaw axis of the aircraft, which is biased towards the forward direction of the aircraft. This allows the main launch direction of the transmitter 21 located above the aircraft to be close to the front of the aircraft during forward flight. This allows the most effective sensing range of the transmitter 21 located above the aircraft to be used for forward environmental sensing. The most effective sensing range of the transmitter 21 is often a small area close to the main launch direction. For example, the horizontal sensing range of the transmitter 21 is 360°, and the most effective sensing range of the transmitter 21 is the 50° range in the center. In addition, the main launch direction of the transmitter 21 located below the aircraft forms an angle of approximately 5° with the yaw axis of the aircraft, which is biased towards the rearward direction. Thus, when the aircraft is flying forward, its attitude is not level front to back. Usually, when the aircraft is in front, its nose is lower than its tail, which means that the aircraft has a front-low and rear-high attitude. By making the main launch direction of the transmitter 21 below form an angle with the yaw axis of the aircraft, which is biased towards the rearward direction, the main launch direction of the transmitter 21 below can be closer to the rear of the aircraft during forward flight. This allows the transmitter 21 to use the most effective sensing range within its sensing range for rearward environmental sensing as much as possible.

[0118] In other embodiments, the transmitter 21 may not be a fisheye transmitter, and the main transmission direction of the transmitter 21 is parallel to a preset direction.

[0119] For example, the main receiving direction of the fisheye receiver 22 can be set to be parallel or non-parallel to its mounting direction, depending on the actual product requirements. Similarly, the main transmitting direction of the transmitter 21 can be set to be parallel or non-parallel to its mounting direction, depending on the actual product requirements. For instance, if the area of ​​primary concern is diagonally below the movable platform 100, the main receiving direction of the fisheye receiver 22 or the main transmitting direction of the transmitter 21 is tilted downwards. Conversely, if the area of ​​primary concern is diagonally above the movable platform 100, the main receiving direction of the fisheye receiver 22 or the main transmitting direction of the transmitter 21 is tilted upwards. For example, taking Figure 6(A) as an example, the main receiving direction e1 of the fisheye receiver 22 located above the aircraft is not parallel to its mounting direction (i.e., upwards), and the main transmitting direction e3 of the transmitter 21 located above the aircraft is not parallel to its mounting direction (i.e., upwards).

[0120] In some embodiments, at least two transmitters 21 and two fisheye receivers 22 are independently mounted on the platform body 10. In this way, the design positions of the transmitters 21 and fisheye receivers 22 are flexible, which is beneficial to achieve 360° omnidirectional perception of the surrounding environment of the movable platform 100 in both horizontal and vertical directions using a smaller number of transmitters 21 and two fisheye receivers 22.

[0121] In some embodiments, at least two transmitters 21 and two fisheye receivers 22 are integrated into a TOF detection device 20, which is mounted on the platform body 10. Thus, before mounting the TOF detection device 20 on the platform body 10, the transmitters 21 and fisheye receivers 22 can be integrated and assembled to form the TOF detection device 20, which reduces the probability of loss due to separate storage of the at least two transmitters 21 and two fisheye receivers 22. For example, at least two transmitters 21 and two fisheye receivers 22 can be integrated and mounted on an intermediate structural member (not shown), and then the intermediate structural member is mounted on the platform body 10.

[0122] In some embodiments, the TOF detection device 20 is fixedly installed on the platform body 10. In this way, the TOF detection device 20 is not easily detached from the platform body 10, and the connection between the TOF detection device 20 and the platform body 10 is reliable.

[0123] In some embodiments, the TOF detection device 20 is detachably connected to the platform body 10. This allows the TOF detection device 20 to be installed and removed as needed. When the TOF detection device 20 is not required, it can be removed from the platform body 10, allowing the platform body 10 to be used independently without the TOF detection device 20 installed, thus reducing the weight of the mobile platform 100 and extending its runtime. When the TOF detection device 20 is needed, it can be quickly assembled to the platform body 10. Replacement or maintenance of the TOF detection device 20 is also convenient, allowing for quick installation and removal.

[0124] In some embodiments, the mobile platform 100 may be equipped with other types of sensors besides the TOF sensor, including but not limited to: vision sensors, lidar sensors, millimeter-wave radar sensors, etc. The placement of these other types of sensors can be determined based on actual product requirements. For example, in addition to the fisheye receiver and transmitter mentioned above, the mobile platform 100 may also be equipped with a vision sensor for omnidirectional perception. The total detection range of this omnidirectional vision sensor can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform 100. The field of view of the vision sensor can be greater than or equal to 180°, such as 360° or 220°, or less than 180°, such as 120° or 90°. The horizontal and vertical field of view of each vision sensor can be designed according to actual product requirements. In some embodiments, a fisheye vision sensor is provided above and below the movable platform 100. Each fisheye vision sensor has a horizontal field of view of 360° and a vertical field of view of 180°. By using two fisheye vision sensors, omnidirectional sensing of the movable platform can be achieved in both the horizontal and vertical 360° ranges.

[0125] This application embodiment also provides a TOF detection device 20, including:

[0126] At least two transmitters 21 and two fisheye receivers 22 are provided. The transmitters 21 are used to transmit light signals, and the fisheye receivers 22 are used to receive light signals reflected back by objects. The TOF detection device 20 can be installed on the platform body 10.

[0127] In this system, all transmitters 21 of the mobile platform 100 are spaced apart from each other. The total detection range of at least two transmitters 21 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100. The total detection range of two fisheye receivers 22 can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100. The cooperation of at least two transmitters 21 and two fisheye receivers 22 can enable omnidirectional perception of the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100.

[0128] The TOF detection device 20 of the above embodiment has a total detection range of at least two transmitters 21 that can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100, and a total detection range of two fisheye receivers 22 that can cover the horizontal and vertical 360° range of the surrounding environment of the mobile platform 100. The cooperation of at least two transmitters 21 and two fisheye receivers 22 can achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions. Therefore, the TOF detection device 20 only needs to set two fisheye receivers 22 to achieve omnidirectional perception of the surrounding environment of the mobile platform 100 in both the horizontal and vertical directions. Furthermore, while achieving omnidirectional perception in both the horizontal and vertical directions, the number of fisheye receivers 22 can be reduced, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100. In addition, since all the transmitters 21 of the mobile platform 100 are spaced apart from each other, it is advantageous to use as few transmitters 21 as possible to cover the horizontal and vertical 360° ranges of the surrounding environment of the mobile platform 100, thereby further reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and further reducing the weight and volume of the mobile platform 100.

[0129] Without conflict, the TOF detection device 20 includes the TOF detection device 20 of any of the above embodiments. Without conflict, the transmitter 21 includes the transmitter 21 of any of the above embodiments. Without conflict, the fisheye receiver 22 includes the fisheye receiver 22 of any of the above embodiments. Without conflict, the movable platform 100 includes the movable platform 100 of any of the above embodiments.

[0130] Understandably, in related technologies, when the TOF detection device 20 is applied to the mobile platform 100, the FOV angle of the receiver of the TOF detection device 20 is relatively small. If it is necessary to achieve 360° omnidirectional perception in the horizontal direction on the side of the mobile platform 100, a large number of receivers of the TOF detection device 20 need to be set up, resulting in higher hardware cost, size and weight of the mobile platform 100.

[0131] Referring to Figure 7, this embodiment of the application also provides a mobile platform 100, including a platform body 10 and a TOF detection device 20. The TOF detection device 20 is disposed on the platform body 10 and includes at least two transmitters 21 and two fisheye receivers 22. The transmitters 21 are used to emit light signals, and the fisheye receivers 22 are used to receive light signals reflected back from objects. The main receiving directions of the two fisheye receivers 22 are both oriented towards the side (i.e., the lateral direction) of the mobile platform 100, and the side is not parallel to the yaw axis direction of the mobile platform 100. The total detection range of the at least two transmitters 21 can cover a horizontal 360° range of the surrounding environment of the mobile platform 100, and the total detection range of the two fisheye receivers 22 can also cover a horizontal 360° range of the surrounding environment of the mobile platform 100. The cooperation of the at least two transmitters 21 and the two fisheye receivers 22 enables omnidirectional perception of the horizontal 360° range of the surrounding environment of the mobile platform 100.

[0132] In this embodiment, the side is not directly above or below the movable platform; the direction of the side is not parallel to the yaw axis or vertical direction of the movable platform. Here, the direction of the side primarily refers to the direction of the central axis of the side.

[0133] The mobile platform 100 in the above embodiment, since the TOF detection device 20 includes at least two transmitters 21 and two fisheye receivers 22, with the main receiving direction of the two fisheye receivers 22 facing the side of the mobile platform 100, the two fisheye receivers 22 and the at least two transmitters 21 cooperate to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform 100 from the side. Therefore, the TOF detection device 20 only needs to be equipped with two fisheye receivers 22 to achieve 360° omnidirectional perception of the surrounding environment of the mobile platform 100 from the side. Furthermore, while achieving 360° omnidirectional perception from the side, the number of fisheye receivers 22 can be reduced, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100.

[0134] For example, the yaw axis direction of the movable platform 100 is the Z direction in Figure 8. Figure 8 is a top view of the movable platform.

[0135] The position of each fisheye receiver 22 can be set according to actual needs. In some embodiments, each fisheye receiver 22 is located on the side or above the platform body 10. For example, each fisheye receiver 22 is located on the side of the platform body 10, which reduces the size of the movable platform 100 along the yaw axis, allowing the movable platform 100 to enter relatively narrow spaces along the yaw axis for operation, improving the operational flexibility and comprehensiveness of the movable platform 100, expanding its application range, and enhancing the user experience. For example, the movable platform 100 includes a cleaning robot, and each fisheye receiver 22 of the cleaning robot is located on the side of the platform body 10. This results in a smaller height of the cleaning robot along the yaw axis, which facilitates more flexible obstacle avoidance and / or entry into narrow spaces with limited height for cleaning operations, improving the cleaning robot's cleaning ability, enabling more comprehensive cleaning operations, expanding its application range, and enhancing the user experience. For example, one portion of each fisheye receiver 22 is located on the side of the platform body 10, and another portion of each fisheye receiver 22 is located above the platform body 10. For example, each fisheye receiver 22 is located above the platform body 10.

[0136] In some embodiments, the horizontal field of view of the fisheye receiver 22 is greater than or equal to 180°, for example, 185° or 200°. Thus, a single fisheye receiver 22 can cover a large horizontal area of ​​the surrounding environment of the mobile platform 100. This reduces the number of fisheye receivers 22 while minimizing blind spots, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and decreasing the weight and size of the mobile platform 100.

[0137] For example, the main receiving direction of the fisheye receiver 22 can be set to be parallel or non-parallel to its mounting direction, depending on the actual product requirements. Similarly, the main transmitting direction of the transmitter 21 can be set to be parallel or non-parallel to its mounting direction, depending on the actual product requirements. For instance, if the area of ​​primary concern is diagonally below the movable platform 100, the main receiving direction of the fisheye receiver 22 or the main transmitting direction of the transmitter 21 can be tilted downwards. Conversely, if the area of ​​primary concern is diagonally above the movable platform 100, the main receiving direction of the fisheye receiver 22 or the main transmitting direction of the transmitter 21 can be tilted upwards.

[0138] In some embodiments, the vertical field of view of the fisheye receiver 22 is greater than or equal to 60°, for example, 80° or 90°. This effectively improves the environmental perception capability of the mobile platform 100, reduces blind spots, and enhances the operational comprehensiveness and safety of the mobile platform 100.

[0139] In some embodiments, the fisheye receiver 22 includes a fisheye ITOF receiver or a fisheye DTOF receiver. Exemplarily, the TOF detection device 20 can use the ITOF method or the DTOF method to measure the distance between the TOF detection device 20 and an object. In the ITOF method, the transmitter 21 of the TOF detection device 20 emits an amplitude-modulated continuous light signal, and the fisheye receiver 22 receives the signal phase returned from the object, thereby determining the distance between the TOF detection device 20 and the object based on the received signal phase. Exemplarily, the fisheye receiver 22 includes a fisheye ITOF receiver. Thus, the TOF detection device 20 can use the ITOF method to measure the distance between the TOF detection device 20 and the object, which can accumulate light signals for a period of time, without requiring strong optical power or light signal energy, and thus has lower sensitivity requirements for the fisheye receiver 22.

[0140] For example, in the DTOF method, the transmitter 21 of the TOF detection device 20 emits a light signal, and the fisheye receiver 22 receives the light signal returned from the object. The distance between the TOF detection device 20 and the object is determined based on the light signal emitted by the transmitter 21 and the light signal received by the fisheye receiver 22. For example, the fisheye receiver 22 includes a fisheye DTOF receiver. Thus, the TOF detection device 20 can use the DTOF method to measure the distance between the TOF detection device 20 and the object. This distance measurement method has a longer measurement distance, higher measurement accuracy, and faster measurement speed.

[0141] In some embodiments, at least some of the transmitters 21 are spaced apart (e.g., non-adjacent or non-contact, with a certain space or positional interval between the installation positions of two transmitters 21) or adjacent (e.g., in contact). Referring to Figure 8, exemplarily, at least some of the transmitters 21 are spaced apart, and the positions of the transmitters 21 can be set according to actual needs, improving the flexibility of transmitter placement. This facilitates placing the transmitters 21 in reasonable locations to achieve a total detection range of 360° horizontally covering the surrounding environment of the mobile platform 100 using a smaller number of transmitters 21. This helps reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduces the weight and volume of the mobile platform 100. In other embodiments, at least some of the transmitters 21 can also be adjacent, thus reducing the requirements for the placement of the transmitters 21 and simplifying the assembly of the TOF detection device 20 with the platform body 10.

[0142] In some embodiments, all transmitters 21 are arranged at intervals or adjacent to each other. Exemplarily, all transmitters 21 are arranged at intervals, and the position of each transmitter 21 can be set according to actual needs, improving the flexibility of the arrangement of each transmitter 21. This facilitates placing each transmitter 21 in a reasonable position to achieve a total detection range of 360° horizontally covering the surrounding environment of the mobile platform 100 using a smaller number of transmitters 21, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100. In other embodiments, all transmitters 21 can also be arranged adjacent to each other. This reduces the requirements for the placement of the transmitters 21 and helps to simplify the assembly of the TOF detection device 20 with the platform body 10.

[0143] Referring to Figure 8, in some embodiments, two fisheye receivers 22 are arranged horizontally. This facilitates achieving 360° omnidirectional lateral perception of the surrounding environment of the movable platform 100 using as few fisheye receivers 22 as possible. Exemplarily, the horizontal direction is perpendicular to the vertical direction of the movable platform 100. Exemplarily, the vertical direction of the movable platform 100 is shown as the Z direction in Figure 4. Exemplarily, the horizontal direction is perpendicular to the yaw axis direction of the movable platform 100. Exemplarily, the horizontal direction is perpendicular to the Z direction in Figure 8.

[0144] For example, the front of the platform body 10 may be in the direction of the load setting, such as the main imaging sensor. The main imaging sensor can be directly mounted or mounted on the platform body 10 via an attitude adjustment structure (e.g., a gimbal or a robotic arm). Optionally, the front of the platform body 10 can be in a default defined main direction. Optionally, if the movable platform 100 includes an aircraft, the front of the platform body 10 can also be in the direction of the aircraft's nose. For a ground-based movable platform, the front of the platform body 10 can be in the main movement direction or the detection direction of the main detection sensor (e.g., a point cloud or image sensor). The rear of the platform body 10 can be in the opposite direction to the front of the platform body 10.

[0145] For example, the vertical direction of the movable platform 100 refers to the direction from the top of the movable platform 100 through the bottom of the movable platform 100, and the horizontal direction of the movable platform refers to the direction perpendicular to the vertical direction, which may be the direction from the head of the movable platform 100 through the tail of the movable platform 100, or the direction from the left side of the movable platform 100 through the right side of the movable platform 100, or other directions.

[0146] In some embodiments, the horizontal direction of the movable platform 100 includes the roll axis direction of the movable platform 100, and two fisheye receivers 22 are distributed along the roll axis direction of the movable platform 100.

[0147] Please refer to Figure 8. In some embodiments, two fisheye receivers 22 are respectively located in front of and behind the platform body 10. This is beneficial because the main receiving directions of the two fisheye receivers 22 are respectively facing the front and rear of the platform body 10, so as to more accurately detect the surrounding environment in front of and behind the platform body 10 and improve the perception accuracy.

[0148] In some other embodiments, the horizontal direction of the movable platform 100 includes the pitch axis direction of the movable platform 100, and the two fisheye receivers 22 are distributed along the pitch axis direction of the movable platform 100. Exemplarily, the two fisheye receivers 22 may also be located on the left and right sides of the platform body 10, respectively.

[0149] In some embodiments, the optical axes of all transmitters 21 and fisheye receivers 22 are coplanar. This helps to reduce the size of the mobile platform 100 along its yaw axis, allowing it to operate in relatively narrow spaces along its yaw axis, thus improving its operational flexibility and versatility, expanding its application range, and enhancing the user experience.

[0150] The positions of each fisheye emitter can be set according to actual needs. In some embodiments, each emitter 21 is located on the side or above the platform body 10. For example, if each emitter 21 is located on the side of the platform body 10, the size of the movable platform 100 along its yaw axis can be reduced, allowing the movable platform 100 to operate in relatively narrow spaces along its yaw axis, improving its operational flexibility and comprehensiveness, expanding its application range, and enhancing the user experience. For instance, if the movable platform 100 includes a cleaning robot, and each emitter 21 of the cleaning robot is located on the side of the platform body 10, the height of the cleaning robot along its yaw axis is smaller, facilitating more flexible obstacle avoidance and / or entry into narrow spaces with limited height for cleaning operations, improving the cleaning robot's cleaning capabilities, enabling more comprehensive cleaning operations, expanding its application range, and enhancing the user experience. For example, one portion of each transmitter 21 is located on the side of the platform body 10, and another portion of each transmitter 21 is located above the platform body 10. For example, each transmitter 21 is located above the platform body 10.

[0151] In some embodiments, the sum of the horizontal field of view of at least two transmitters 21 is greater than or equal to 360°, so that the light signals emitted by at least two transmitters 21 can fully cover the horizontal direction of the surrounding environment of the mobile platform 100 in 360°, thereby ensuring that at least two transmitters 21 and two fisheye receivers 22 cooperate to perform omnidirectional perception of the horizontal direction of the surrounding environment of the mobile platform 100 in 360°.

[0152] In some embodiments, each transmitter 21 has the same horizontal field of view. This simplifies the design of the TOF detection device 20, facilitates the maintenance, replacement, or manufacturing of the transmitter 21, and makes the assembly of the TOF detection device 20 with the platform body 10 simpler, thereby reducing production and maintenance costs.

[0153] In other embodiments, at least two of the at least two transmitters 21 have different horizontal field of view angles. Transmitters 21 with different horizontal field of view angles can cover different spatial ranges, thus optimizing spatial coverage by adjusting the horizontal field of view angles of the transmitters 21 without increasing the number of transmitters 21. Furthermore, by rationally configuring transmitters 21 with different horizontal field of view angles, blind spots can be reduced, and the sensing capability of the mobile platform 100 can be improved.

[0154] In some embodiments, each transmitter 21 has the same vertical field of view. This simplifies the design of the TOF detection device 20, facilitates the maintenance, replacement, or manufacturing of the transmitter 21, and makes the assembly of the TOF detection device 20 with the platform body 10 simpler, thereby reducing production and maintenance costs.

[0155] In other embodiments, at least two of the at least two transmitters 21 have different vertical field of view angles. Transmitters 21 with different vertical field of view angles can cover different spatial ranges, thus optimizing spatial coverage by adjusting the vertical field of view angles of the transmitters 21 without increasing the number of transmitters 21. Furthermore, by rationally configuring transmitters 21 with different vertical field of view angles, blind spots can be reduced, and the sensing capability of the mobile platform 100 can be improved.

[0156] Referring to Figure 9, in some embodiments, at least two of all transmitters 21 are located at different positions on the movable platform 100. For example, at least two of all transmitters 21 can be independently installed at different positions on the movable platform 100. In this way, the position of each transmitter 21 can be designed based on actual product needs, making the design of the transmitters 21 more flexible.

[0157] For example, at least two of the transmitters 21 are located on different sides of the movable platform 100; and / or, at least two of the transmitters 21 are equally spaced along the sides of the movable platform 100. This allows for maximizing the total detection range of all transmitters 21 using a smaller number of transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. In some embodiments, at least two of the transmitters 21 are located above, below, in front of, behind, to the left of, and to the right of the movable platform 100. In this way, a smaller number of transmitters 21 can be used, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 helps reduce the hardware cost of the TOF detection device 20 and the mobile platform 100, and also reduces the weight and size of the mobile platform 100. Furthermore, it facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the mobile platform 100, thereby improving the perception capability of the mobile platform 100. For example, at least two of the transmitters 21 are located in front, behind, to the left, and to the right of the mobile platform 100, respectively. For example, for cleaning robots or other mobile platforms 100, their operation typically focuses on the surrounding environment in front of, behind, to the left, and / or to the right of the mobile platform 100 to improve its perception capability. To achieve perception of the surrounding environment in the direction of focus and to minimize the number of transmitters 21, in this embodiment, at least two of all transmitters 21 are located at two of the following locations: in front, behind, to the left, and to the right of the movable platform 100. In other embodiments, all transmitters 21 may also be located on the same side of the movable platform 100.

[0158] Referring to Figure 11, in some embodiments, at least three of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least three of the transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100. Exemplarily, at least three of all transmitters 21 are located at three of the following locations: in front, behind, to the left, and to the right of the mobile platform 100. Exemplarily, for cleaning robots or other mobile platforms 100, their operation typically focuses on the surrounding environment in front of, behind, to the left, and / or to the right of the mobile platform 100 to improve its perception capabilities. To achieve perception of the surrounding environment in the areas of focus and to minimize the number of transmitters 21, in this embodiment, at least three of all transmitters 21 are located at three of the following locations: in front, behind, to the left, and to the right of the mobile platform 100.

[0159] Referring to Figure 11, in some embodiments, at least four of the transmitters 21 are located on different sides of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. In some embodiments, at least four of the transmitters 21 are located above, below, in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of a smaller number of transmitters 21, maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and decreases the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment above, below, in front, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100. Exemplarily, at least four of the transmitters 21 are located in front of, behind, to the left of, and to the right of the mobile platform 100, respectively. Exemplarily, for cleaning robots or other mobile platforms 100, their operation typically focuses on the surrounding environment in front of, behind, to the left of, and to the right of the mobile platform 100 to improve its perception capabilities. To achieve perception of the surrounding environment in the areas of focus and to minimize the number of transmitters 21, in this embodiment, at least four of the transmitters 21 are located in front of, behind, to the left of, and to the right of the mobile platform 100, respectively.

[0160] In some embodiments, all transmitters 21 are located on different sides of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. In some embodiments, all transmitters 21 are located in front, behind, to the left, and to the right of the movable platform 100. This allows for the use of as few transmitters 21 as possible while maximizing the total detection range of all transmitters 21. A smaller number of transmitters 21 also helps reduce the hardware cost of the TOF detection device 20 and the movable platform 100, and reduces the weight and size of the movable platform 100. Furthermore, it also facilitates more accurate perception of the surrounding environment in front of, behind, to the left, and to the right of the movable platform 100, thereby improving the sensing capability of the movable platform 100. For example, when a cleaning robot or other mobile platform 100 is operating, it typically focuses on the surrounding environment in front of, behind, to the left of, and to the right of the mobile platform 100 to improve its perception capabilities. To achieve perception of the surrounding environment in the areas of focus and to minimize the number of transmitters 21, in this embodiment, all transmitters 21 are located in front of, behind, to the left of, and to the right of the mobile platform 100, respectively.

[0161] In some embodiments, the number of at least two transmitters 21 is n, where n is a natural number, and the horizontal field of view of each transmitter 21 is greater than or equal to 360° / n. This is beneficial in ensuring that the total detection range of at least two transmitters 21 can cover a 360° horizontal range of the surrounding environment of the movable platform 100. For example, n ≥ 2 and is a natural number. For instance, if n is 2, the horizontal field of view of each transmitter 21 is greater than or equal to 180°. Or, if n is 3, the horizontal field of view of each transmitter 21 is greater than or equal to 120°. Or, if n is 4, the horizontal field of view of each transmitter 21 is greater than or equal to 90°.

[0162] In some embodiments, one fisheye receiver 22 is capable of receiving light signals emitted by at least one transmitter 21, and the other fisheye receiver 22 is capable of receiving light signals emitted by at least the other transmitter 21. This allows for the use of fewer transmitters 21 and fisheye receivers 22, enabling the total detection range of at least two transmitters 21 to cover a horizontal 360° range of the surrounding environment of the mobile platform 100, and the total detection range of the two fisheye receivers 22 to cover a horizontal 360° range of the surrounding environment of the mobile platform 100, thus ensuring omnidirectional perception of the horizontal 360° surrounding environment of the mobile platform 100.

[0163] In some embodiments, the horizontal field of view of the transmitter 21 is greater than or equal to 180°, for example, 185° or 200°. Thus, a single transmitter 21 can cover a large horizontal area of ​​the surrounding environment of the mobile platform 100. While minimizing the sensing blind spots, this reduces the number of transmitters 21, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100.

[0164] Referring to Figure 9, in some embodiments, the number of transmitters 21 is two. Exemplarily, the transmitters 21 are fisheye transmitters, and the number of fisheye transmitters is two. Thus, while ensuring that the total detection range of at least two transmitters 21 can cover a horizontal 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 can be minimized, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and minimizing the weight and volume of the mobile platform 100.

[0165] Referring to Figure 9, in some embodiments, the number of transmitters 21 includes two, with the two transmitters 21 respectively located at the front and rear of the platform body 10. This facilitates the mobile platform 100 in reliably and accurately sensing the surrounding environment in front of and behind the platform body 10, thereby ensuring the operational safety, comprehensiveness, and reliability of the mobile platform 100. For example, the mobile platform 100 includes a cleaning robot, with two transmitters 21 respectively located at the front and rear of the platform body 10. The transmitter 21 located at the front of the platform body 10 can at least cooperate with the fisheye receiver 22 to sense environmental information in front of the platform body 10, thereby performing at least one of the following tasks: path planning to avoid repetitive work or missed areas; obstacle avoidance to improve operational safety, etc. The transmitter 21 located at the rear of the platform body 10 can at least cooperate with the fisheye receiver 22 to sense environmental information behind the platform body 10, thereby performing at least one of the following tasks: path planning to avoid repetitive work or missed areas; obstacle avoidance to improve operational safety, etc. In other embodiments, the number of transmitters 21 includes two, with the two transmitters 21 respectively located on the left and right sides of the platform body 10.

[0166] In some embodiments, the horizontal field of view of the transmitter 21 is greater than or equal to 120°, for example, 125° or 140°. Thus, a single transmitter 21 can cover a large horizontal area of ​​the surrounding environment of the mobile platform 100. While minimizing the sensing blind spots, this helps to reduce the number of transmitters 21, thereby reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and reducing the weight and volume of the mobile platform 100.

[0167] Referring to Figure 10, in some embodiments, the number of transmitters 21 is three. Thus, while ensuring coverage of a 360° horizontal range and omnidirectional perception of the surrounding environment of the mobile platform 100 in a 360° horizontal direction, the number of transmitters 21 is small, effectively reducing the hardware cost of the TOF detection device 20 and the mobile platform 100, and effectively reducing the weight and volume of the mobile platform 100.

[0168] In some embodiments, the number of transmitters 21 includes three, with two transmitters 21 respectively located at the front and rear of the platform body 10, and the third transmitter 21 located on the left or right side of the platform body 10. This ensures that the mobile platform 100 can perceive environmental information in front of and behind the platform body 10, as well as environmental information on its left or right sides, enabling the mobile platform 100 to more comprehensively perceive its surroundings and better adapt to different operating scenarios. Alternatively, the three transmitters 21 can be positioned at three evenly distributed locations on the platform body 10, for example, the three transmitters 21 can be equally spaced along the sides of the mobile platform 100.

[0169] In some embodiments, the number of transmitters 21 includes three, with two transmitters 21 respectively located on the left and right sides of the platform body 10, and the other transmitter 21 located in front of or behind the platform body 10. This ensures that the mobile platform 100 can perceive environmental information to the left and right of the platform body 10, as well as environmental information in front of or behind the platform body 10, enabling the mobile platform 100 to perceive its surroundings more comprehensively, reducing blind spots, improving its perception capabilities, and better adapting to different operating scenarios.

[0170] In some embodiments, the horizontal field of view of the transmitter 21 is greater than or equal to 90°, such as 95° or 100°, which is advantageous for using a smaller number of transmitters 21 to achieve a total detection range of at least two transmitters 21 that can cover the horizontal 360° range of the surrounding environment of the mobile platform 100. The cooperation of at least two transmitters 21 and two fisheye receivers 22 enables omnidirectional perception of the horizontal 360° of the surrounding environment of the mobile platform 100.

[0171] Referring to Figure 11, in some embodiments, the number of transmitters 21 is four. Thus, while ensuring that the total detection range of each transmitter 21 can cover a horizontal 360° range of the surrounding environment of the mobile platform 100, the number of transmitters 21 is reduced, which helps to lower the hardware cost of the TOF detection device 20 and the mobile platform 100, and reduce the weight and volume of the mobile platform 100. Exemplarily, the four transmitters 21 can be equally spaced and symmetrically arranged. Exemplarily, the four transmitters 21 are equally spaced on the sides of the mobile platform 100.

[0172] Referring to Figure 11, in some embodiments, the number of transmitters 21 includes four, which are respectively located at the front, rear, left, and right of the platform body 10. In this way, a smaller number of transmitters 21 can be used to sense environmental information in front of, behind, to the left, and to the right of the platform body 10, reducing blind spots and improving the sensing capability of the mobile platform 100.

[0173] In some embodiments, each transmitter 21 and each fisheye receiver 22 is independently mounted on the platform body 10. In this way, the design positions of the transmitter 21 and the fisheye receiver 22 are flexible, which is beneficial to achieve 360° omnidirectional perception of the surrounding environment of the movable platform 100 using a smaller number of transmitters 21 and two fisheye receivers 22.

[0174] In some embodiments, each transmitter 21 and each fisheye receiver 22 are integrated into a TOF detection device 20, which is mounted on the platform body 10. Thus, before mounting the TOF detection device 20 on the platform body 10, the transmitters 21 and fisheye receivers 22 can be integrated and assembled to form the TOF detection device 20, which reduces the probability of loss due to separate storage of at least two transmitters 21 and two fisheye receivers 22. For example, each transmitter 21 and each fisheye receiver 22 can be integrated and mounted on an intermediate structural member (not shown), and then the intermediate structural member can be mounted on the platform body 10.

[0175] In some embodiments, the TOF detection device 20 is fixedly installed on the platform body 10. In this way, the TOF detection device 20 is not easily detached from the platform body 10, and the connection between the TOF detection device 20 and the platform body 10 is reliable.

[0176] In some embodiments, the TOF detection device 20 is detachably connected to the platform body 10. This allows the TOF detection device 20 to be installed and removed as needed. When the TOF detection device 20 is not required, it can be removed from the platform body 10, allowing the platform body 10 to be used independently without the TOF detection device 20 installed, thus reducing the weight of the mobile platform 100 and extending its runtime. When the TOF detection device 20 needs to be used or replaced, it can be quickly assembled to the platform body 10. Replacement or maintenance of the TOF detection device 20 is also convenient, allowing for quick installation and removal.

[0177] In some embodiments, the side of the movable platform 100 is not parallel to the yaw axis, and the side forms an angle with the yaw axis of the movable platform 100 that is greater than or equal to 0 degrees and less than 90 degrees. For example, the angle between the side of the movable platform 100 and the yaw axis of the movable platform 100 is 0 degrees, 30 degrees, 45 degrees, 60 degrees, 80 degrees, or any other suitable value between 0 and 90 degrees. For example, the side forms an angle with the yaw axis of the movable platform 100 that is greater than or equal to 0 degrees and less than 45 degrees. The angle between the side of the movable platform 100 and the yaw axis of the movable platform 100 is 0 degrees, 10 degrees, 20 degrees, 30 degrees, 45 degrees, or any other suitable value between 0 and 45 degrees.

[0178] In some embodiments, the mobile platform 100 may be equipped with other types of sensors besides the TOF sensor, including but not limited to: vision sensors, lidar sensors, millimeter-wave radar sensors, etc. The placement of these other types of sensors can be determined based on actual product requirements. For example, in addition to the fisheye receiver and transmitter mentioned above, the mobile platform 100 may also be equipped with a vision sensor for omnidirectional perception. The total detection range of this omnidirectional vision sensor can cover a 360° horizontal range of the surrounding environment of the mobile platform 100. The field of view of the vision sensor can be greater than or equal to 180°, such as 360° or 220°, or less than 180°, such as 120° or 90°. The horizontal and vertical field of view of each vision sensor can be designed according to actual product requirements. In some embodiments, a fisheye vision sensor is provided at a symmetrical position on the side of the movable platform 100. Each fisheye vision sensor has a horizontal field of view of 360° and a vertical field of view of 90°. By using two fisheye vision sensors, omnidirectional sensing of the movable platform in the horizontal direction of 360° can be achieved.

[0179] This application embodiment also provides a TOF detection device 20, including:

[0180] At least two transmitters 21 and two fisheye receivers 22, the transmitters 21 are used to transmit light signals, and the fisheye receivers 22 are used to receive light signals reflected back by an object, wherein the TOF detection device 20 can be installed on the platform body 10 of the movable platform 100;

[0181] The main receiving directions of the two fisheye receivers 22 are both facing the side of the movable platform 100, and the side is not parallel to the yaw axis of the movable platform 100. The total detection range of the at least two transmitters 21 can cover the horizontal 360° range of the surrounding environment of the movable platform 100, and the total detection range of the two fisheye receivers 22 can cover the horizontal 360° range of the surrounding environment of the movable platform 100. The cooperation of the at least two transmitters 21 and the two fisheye receivers 22 can enable omnidirectional perception of the horizontal 360° of the surrounding environment of the movable platform 100.

[0182] The TOF detection device 20 in the above embodiment includes at least two transmitters 21 and two fisheye receivers 22. The main receiving direction of the two fisheye receivers 22 is towards the side of the movable platform 100. The two fisheye receivers 22 and the at least two transmitters 21 work together to achieve 360° omnidirectional perception of the surrounding environment of the movable platform 100 from the side. Therefore, the TOF detection device 20 only needs to be equipped with two fisheye receivers 22 to achieve 360° omnidirectional perception of the surrounding environment of the movable platform 100 from the side. Furthermore, while achieving 360° omnidirectional perception from the side, the number of fisheye receivers 22 can be reduced, thereby reducing the hardware cost of the TOF detection device 20 and the movable platform 100, and reducing the weight and volume of the movable platform 100.

[0183] Without conflict, the TOF detection device 20 includes the TOF detection device 20 of any of the above embodiments. Without conflict, the transmitter 21 includes the transmitter 21 of any of the above embodiments. Without conflict, the fisheye receiver 22 includes the fisheye receiver 22 of any of the above embodiments. Without conflict, the movable platform 100 includes the movable platform 100 of any of the above embodiments.

[0184] It is understood that the platform body 10, transmitter 21, and fisheye receiver 22 shown in the relevant drawings of the embodiments of this application are merely exemplary and do not impose limitations on the structure, shape, position, and / or number of the platform body 10, transmitter 21, and fisheye receiver 22. In practical applications, the structure, shape, position, and / or number of the platform body 10, transmitter 21, and fisheye receiver 22 can be changed according to actual needs.

[0185] In one embodiment, the fisheye receiver 22 is a fisheye dtof-field receiver that transmits pulse waves instead of sine / square waves; the FOV of the fisheye dtof-field receiver is greater than 180 degrees, for example, 185 degrees. Exemplarily, the mobile platform 100 includes an aircraft with two fisheye receivers 22 distributed vertically above and below it. Two transmitters 21 are respectively located above and below the aircraft, and at least four of the transmitters 21 are located in other positions within the aircraft besides the top and bottom locations. The transmitter 21 located above the aircraft transmits a first transmitted optical signal, the transmitter 21 located below the aircraft transmits a second transmitted optical signal, and at least four of the transmitters 21 transmit a third transmitted optical signal. One fisheye receiver 22 can receive the first received light signal reflected back after the first emitted light signal comes into contact with an object, and a portion of the third received light signal reflected back after the third emitted light signal comes into contact with an object; the other fisheye receiver 22 can receive the second received light signal reflected back after the second emitted light signal comes into contact with an object, and a portion of the third received light signal reflected back after the third emitted light signal comes into contact with an object. For example, the mobile platform 100 includes a robot vacuum cleaner with two fisheye receivers 22 distributed at the front and rear, requiring only two fisheye TOF sensors to achieve 360-degree omnidirectional perception. Two fisheye transmitters or three transmitters 21 with a FOV of 120° are evenly spaced laterally on the robot vacuum cleaner.

[0186] In some embodiments, two fisheye receivers 22 with a field of view (FOV) greater than 180 degrees are set at two different positions on a preset plane of the mobile platform 100, enabling omnidirectional sensing of the mobile platform 100 on that preset plane. Exemplarily, the preset plane can be perpendicular to the roll axis of the mobile platform 100. Exemplarily, the preset plane can be perpendicular to the pitch axis of the mobile platform 100. Exemplarily, when the mobile platform 100 is in a non-activated state or its position remains unchanged in a windless environment, the preset plane is the vertical plane of the mobile platform 100.

[0187] In some implementations, to save on the number of components, one fisheye receiver 22 can correspond to two or three transmitters 21. The fisheye receiver 22 can have a field of view (FOV) greater than 180 degrees, and the total detection range of the two or three transmitters 21 corresponding to the same fisheye receiver 22 reaches 180 degrees. For example, if the FOV of a single transmitter 21 is 90 degrees, and the aircraft is circumferentially equipped with four transmitters 21 with a 90-degree FOV, the total detection range of these four transmitters 21 is equal to 360 degrees. The FOVs of any two transmitters 21 may or may not overlap. For example, the mobile platform 100 includes a sweeping robot, which is circumferentially equipped with three transmitters 21 with a 120-degree FOV, and the total detection range of these three transmitters 21 is equal to 360 degrees.

[0188] It is understood that the platform body 10, transmitter 21, and fisheye receiver 22 shown in the relevant drawings of the embodiments of this application are merely exemplary and do not impose limitations on the structure, shape, position, and / or number of the platform body 10, transmitter 21, and fisheye receiver 22. In practical applications, the structure, shape, position, and / or number of the platform body 10, transmitter 21, and fisheye receiver 22 can be changed according to actual needs.

[0189] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling between two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Mechanical coupling between two components can be understood as the existence of a mechanical connection and / or mechanical interaction between the two components. Mechanical connection includes, but is not limited to, at least one of the following: rotational connection, movable connection, sliding connection, and abutment. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0190] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0191] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in the embodiments of this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0192] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0193] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

A mobile platform, characterized in that, include: Platform entity; A TOF detection device is located on the main body of the platform. The TOF detection device includes at least two transmitters and two fisheye receivers. The transmitters are used to emit light signals, and the fisheye receivers are used to receive light signals reflected back by objects. In this system, all the transmitters of the mobile platform are spaced apart from each other. The total detection range of at least two transmitters can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The total detection range of the two fisheye receivers can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The cooperation of at least two transmitters and two fisheye receivers enables omnidirectional perception of the surrounding environment of the mobile platform in both the horizontal and vertical directions. The mobile platform according to claim 1 is characterized in that, The sum of the field of view angles of the two fisheye receivers in the horizontal and vertical directions is greater than or equal to 360°. The mobile platform according to claim 1 or 2 is characterized in that, The vertical field of view of the fisheye receiver is greater than or equal to 180°, and the horizontal field of view of the fisheye receiver is greater than or equal to 360°. The mobile platform according to claim 1 or 2 is characterized in that, The horizontal field of view of the fisheye receiver is greater than or equal to 180°, and the vertical field of view of the fisheye receiver is greater than or equal to 360°. The mobile platform according to any one of claims 1 to 4 is characterized in that, The fisheye receiver includes a fisheye ITOF receiver or a fisheye DTOF receiver. The mobile platform according to any one of claims 1 to 5 is characterized in that, The two fisheye receivers are distributed along a preset direction. The mobile platform according to claim 6 is characterized in that, The preset direction includes the vertical direction of the movable platform, and the two fisheye receivers are respectively located above and below the main body of the platform. The mobile platform according to claim 7 is characterized in that, The vertical direction of the movable platform includes the yaw axis direction of the movable platform. The mobile platform according to claim 6 is characterized in that, The preset direction includes the horizontal direction of the movable platform, and the two fisheye receivers are arranged along the horizontal direction. The mobile platform according to claim 9 is characterized in that, The horizontal direction of the movable platform includes the roll axis direction of the movable platform. The mobile platform according to claim 9 is characterized in that, The horizontal direction of the movable platform includes the pitch axis direction of the movable platform. The mobile platform according to claim 9 or 10 is characterized in that, The two fisheye receivers are respectively located at the front and rear of the platform body. The mobile platform according to claim 9 or 11 is characterized in that, The two fisheye receivers are respectively located on the left and right sides of the platform body. The mobile platform according to any one of claims 6 to 13 is characterized in that, The main receiving directions of the two fisheye receivers are parallel to the preset direction. The mobile platform according to any one of claims 6 to 13 is characterized in that, The main receiving directions of the two fisheye receivers form an angle greater than 0 degrees and less than 90 degrees with the preset direction. The mobile platform according to claim 15 is characterized in that, The main receiving directions of the two fisheye receivers form an angle greater than 0 degrees and less than 45 degrees with the preset direction. The mobile platform according to any one of claims 1 to 16 is characterized in that, The sum of the horizontal field of view of at least two of the transmitters is greater than or equal to 360°, so that the optical signals emitted by at least two of the transmitters can provide 360° horizontal coverage of the surrounding environment of the mobile platform. The mobile platform according to any one of claims 1 to 17 is characterized in that, The sum of the vertical field of view of at least two of the transmitters is greater than or equal to 360°, so that the optical signals emitted by at least two of the transmitters can provide 360° vertical coverage of the surrounding environment of the mobile platform. The mobile platform according to any one of claims 1 to 18 is characterized in that, The horizontal field of view of each of the aforementioned transmitters is the same. The mobile platform according to any one of claims 1 to 18 is characterized in that, At least two of the at least two transmitters have different horizontal field of view angles. The mobile platform according to any one of claims 1 to 20 is characterized in that, The vertical field of view of each of the aforementioned transmitters is the same. The mobile platform according to any one of claims 1 to 20 is characterized in that, At least two of the at least two transmitters have different vertical field of view angles. The mobile platform according to any one of claims 1 to 22 is characterized in that, At least two of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 23 is characterized in that, At least two of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to any one of claims 1 to 24 is characterized in that, At least three of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 25 is characterized in that, At least three of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to any one of claims 1 to 26 is characterized in that, At least four of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 27 is characterized in that, At least four of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to any one of claims 1 to 28 is characterized in that, At least five of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 29 is characterized in that, At least five of the aforementioned transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to any one of claims 1 to 30 is characterized in that, At least six of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 31 is characterized in that, At least six of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform, respectively. The mobile platform according to any one of claims 1 to 32 is characterized in that, All of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 33 is characterized in that, All of the transmitters are located above, below, in front of, behind, to the left and to the right of the movable platform, respectively. The mobile platform according to any one of claims 1 to 34 is characterized in that, The number of at least two of the transmitters is n, where n is a natural number, and the horizontal field of view of each of the transmitters is greater than or equal to 360° / n; and / or, the vertical field of view of each of the transmitters is greater than or equal to 360° / n. The mobile platform according to any one of claims 1 to 35 is characterized in that, The at least two transmitters include a first transmitter and a plurality of second transmitters, wherein one of the fisheye receivers is capable of receiving optical signals emitted by the first transmitter and the plurality of second transmitters, and the other fisheye receiver is capable of receiving optical signals emitted by at least the plurality of second transmitters. The mobile platform according to any one of claims 1 to 36 is characterized in that, The at least two transmitters include a first transmitter and a plurality of second transmitters, wherein the horizontal field of view of the first transmitter and / or the second transmitter is greater than or equal to 120°; and / or, the vertical field of view of the first transmitter and / or the second transmitter is greater than or equal to 120°. The mobile platform according to any one of claims 1 to 37 is characterized in that, The at least two transmitters include a first transmitter and a plurality of second transmitters, the number of which includes three. The mobile platform according to any one of claims 1 to 38 is characterized in that, The number of at least two transmitters is four, and the at least two transmitters include a first transmitter and a plurality of second transmitters, wherein the number of the first transmitter is one and the number of the second transmitters is three. The mobile platform according to claim 39 is characterized in that... The two fisheye receivers are respectively located above and below the platform body, the first transmitter is located above or below the platform body, and the three second transmitters are respectively located in three of the following positions: front, rear, left, and right of the platform body. The mobile platform according to claim 39 is characterized in that... The two fisheye receivers are respectively located at the front and rear of the platform body, the first transmitter is located at the front or rear of the platform body, and the three second transmitters are respectively located at three of the following positions: above, below, left, and right of the platform body. The mobile platform according to claim 39 is characterized in that... The two fisheye receivers are respectively located on the left and right sides of the platform body, the first transmitter is located on the left or right side of the platform body, and the three second transmitters are respectively located on three of the following sides: above, below, in front of, and behind the platform body. The mobile platform according to any one of claims 1 to 36 is characterized in that, At least two of the transmitters include a first transmitter and a plurality of second transmitters, and at least two of the transmitters further include: The third transmitter has one fisheye receiver capable of receiving optical signals emitted by the first transmitter and multiple second transmitters, and another fisheye receiver capable of receiving optical signals emitted by the third transmitter and multiple second transmitters. The mobile platform according to claim 43 is characterized in that, The horizontal field of view of the first transmitter, the second transmitter, and / or the third transmitter is greater than or equal to 120°; and / or, the vertical field of view of the first transmitter, the second transmitter, and / or the third transmitter is greater than or equal to 120°. The mobile platform according to claim 43 is characterized in that, The number of the second transmitters includes three. The mobile platform according to claim 45 is characterized in that, The number of transmitters is 5, with one first transmitter, three second transmitters, and one third transmitter. The mobile platform according to claim 46 is characterized in that, The two fisheye receivers are respectively located above and below the platform body, the first transmitter and the third transmitter are respectively located above and below the platform body, and the three second transmitters are respectively located in three of the following positions: front, rear, left and right of the platform body. The mobile platform according to claim 46 is characterized in that, The two fisheye receivers are respectively located at the front and rear of the platform body, the first transmitter and the third transmitter are respectively located at the front and rear of the platform body, and the three second transmitters are respectively located at three of the following positions: above, below, left and right of the platform body. The mobile platform according to claim 46 is characterized in that, The two fisheye receivers are respectively located on the left and right sides of the platform body, the first transmitter and the third transmitter are respectively located on the left and right sides of the platform body, and the three second transmitters are respectively located on three of the following locations: above, below, in front of and behind the platform body. The mobile platform according to claim 43 is characterized in that, The horizontal field of view of the first transmitter, the second transmitter, and / or the third transmitter is greater than or equal to 90°; and / or, the vertical field of view of the first transmitter, the second transmitter, and / or the third transmitter is greater than or equal to 90°. The mobile platform according to claim 43 is characterized in that, The number of the second transmitters includes four. The mobile platform according to claim 51 is characterized in that, The number of transmitters is 6, with one first transmitter, four second transmitters, and one third transmitter. The mobile platform according to claim 52 is characterized in that, Two fisheye receivers are respectively located above and below the platform body, the first transmitter and the third transmitter are respectively located above and below the platform body, and four second transmitters are respectively located in front, behind, to the left and to the right of the platform body. The mobile platform according to claim 52 is characterized in that, The two fisheye receivers are respectively located at the front and rear of the platform body, the first transmitter and the third transmitter are respectively located at the front and rear of the platform body, and the four second transmitters are respectively located above, below, to the left and to the right of the platform body. The mobile platform according to claim 52 is characterized in that, The two fisheye receivers are respectively located on the left and right sides of the platform body, the first transmitter and the third transmitter are respectively located on the left and right sides of the platform body, and the four second transmitters are respectively located above, below, in front of and behind the platform body. The mobile platform according to any one of claims 1 to 36 is characterized in that, The transmitter is a fisheye transmitter, and the horizontal field of view of the fisheye transmitter is greater than or equal to 180°; and / or, the vertical field of view of the fisheye transmitter is greater than or equal to 180°. The mobile platform according to any one of claims 1 to 36 is characterized in that, The transmitter is a fisheye transmitter, and there are two fisheye transmitters. The mobile platform according to claim 57 is characterized in that, The two fisheye emitters are distributed along a preset direction. The mobile platform according to claim 58 is characterized in that, The preset direction includes the vertical direction of the movable platform, and the two fisheye emitters are respectively located above and below the main body of the platform. The mobile platform according to claim 59 is characterized in that, The vertical direction of the movable platform includes the yaw axis direction of the movable platform. The mobile platform according to claim 58 is characterized in that, The preset direction includes the horizontal direction of the movable platform, and the two fisheye emitters are arranged along the horizontal direction. The mobile platform according to claim 61 is characterized in that, The horizontal direction of the movable platform includes the roll axis direction of the movable platform. The mobile platform according to claim 61 is characterized in that, The horizontal direction of the movable platform includes the pitch axis direction of the movable platform. The mobile platform according to claim 61 or 62 is characterized in that, The two fisheye emitters are respectively located at the front and rear of the platform body. The mobile platform according to claim 61 or 63 is characterized in that, The two fisheye emitters are respectively located on the left and right sides of the platform body. The mobile platform according to any one of claims 58 to 65 is characterized in that, The main emission directions of the two fisheye emitters are parallel to the preset direction. The mobile platform according to any one of claims 58 to 65 is characterized in that, The main emission directions of the two fisheye emitters form an angle greater than 0 degrees and less than 90 degrees with the preset direction. The mobile platform according to claim 67 is characterized in that, The main emission directions of the two fisheye emitters form an angle greater than 0 degrees and less than 45 degrees with the preset direction. The mobile platform according to any one of claims 1 to 68 is characterized in that, At least two of the transmitters and two of the fisheye receivers are each independently mounted on the platform body. The mobile platform according to any one of claims 1 to 68 is characterized in that, At least two of the transmitters and two of the fisheye receivers are integrated into the TOF detection device, which is mounted on the platform body. The mobile platform according to any one of claims 1 to 70 is characterized in that, The TOF detection device is fixedly installed on the platform body. The mobile platform according to any one of claims 1 to 70 is characterized in that, The TOF detection device is detachably connected to the platform body. The mobile platform according to any one of claims 1 to 72 is characterized in that, The mobile platform includes aircraft, mobile robots, vehicles, or ships. The mobile platform according to claim 73 is characterized in that, The mobile robots include cleaning robots. A mobile platform, characterized in that, include: Platform entity; A TOF detection device is located on the main body of the platform. The TOF detection device includes at least two transmitters and two fisheye receivers. The transmitters are used to emit light signals, and the fisheye receivers are used to receive light signals reflected back by objects. The main receiving directions of the two fisheye receivers are both oriented towards the side of the mobile platform, and the side is not parallel to the yaw axis of the mobile platform. The total detection range of the at least two transmitters can cover a 360° horizontal range of the surrounding environment of the mobile platform, and the total detection range of the two fisheye receivers can cover a 360° horizontal range of the surrounding environment of the mobile platform. The cooperation of the at least two transmitters and the two fisheye receivers can enable omnidirectional perception of the 360° horizontal range of the surrounding environment of the mobile platform. The mobile platform according to claim 75 is characterized in that, Each of the fisheye receivers is located on the side or above the main body of the platform. The mobile platform according to claim 75 or 76 is characterized in that, The horizontal field of view of the fisheye receiver is greater than or equal to 180°. The mobile platform according to any one of claims 75 to 77 is characterized in that, The vertical field of view of the fisheye receiver is greater than or equal to 60°. The mobile platform according to any one of claims 75 to 78 is characterized in that, The fisheye receiver includes a fisheye ITOF receiver or a fisheye DTOF receiver. The mobile platform according to any one of claims 75 to 79 is characterized in that, At least some of the transmitters are spaced apart or adjacent to each other. The mobile platform according to any one of claims 75 to 80 is characterized in that, All of the transmitters are arranged at intervals or adjacent to each other. The mobile platform according to any one of claims 75 to 81 is characterized in that, The two fisheye receivers are arranged in a horizontal direction. The mobile platform according to any one of claims 75 to 82 is characterized in that, The two fisheye receivers are respectively located at the front and rear of the platform body. The mobile platform according to any one of claims 75 to 82 is characterized in that, The two fisheye receivers are respectively located on the left and right sides of the platform body. The mobile platform according to any one of claims 75 to 84 is characterized in that, The optical axes of all the transmitters and the fisheye receivers are arranged in the same plane. The mobile platform according to any one of claims 75 to 85 is characterized in that, Each of the aforementioned transmitters is located on the side or above the main body of the platform. The mobile platform according to any one of claims 75 to 86 is characterized in that, The sum of the horizontal field of view of the at least two transmitters is greater than or equal to 360°, so that the optical signals emitted by the at least two transmitters can provide 360° horizontal coverage of the surrounding environment of the mobile platform. The mobile platform according to any one of claims 75 to 87 is characterized in that, The horizontal field of view of each of the aforementioned transmitters is the same. The mobile platform according to any one of claims 75 to 87 is characterized in that, At least two of the at least two transmitters have different horizontal field of view angles. The mobile platform according to any one of claims 75 to 89 is characterized in that, The vertical field of view of each of the aforementioned transmitters is the same. The mobile platform according to any one of claims 75 to 89 is characterized in that, At least two of the at least two transmitters have different vertical field of view angles. The mobile platform according to any one of claims 75 to 91 is characterized in that, The number of at least two of the transmitters is n, where n is a natural number, and the horizontal field of view of each transmitter is greater than or equal to 360° / n. The mobile platform according to any one of claims 75 to 92 is characterized in that, One of the fisheye receivers is capable of receiving at least one of the light signals emitted by the transmitter, and the other fisheye receiver is capable of receiving at least one of the light signals emitted by the transmitter. The mobile platform according to any one of claims 75 to 93 is characterized in that, At least two of the transmitters are located on different sides of the movable platform, and / or at least two of the transmitters are arranged at equal intervals on the sides of the movable platform. The mobile platform according to claim 94 is characterized in that, At least two of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to claim 95 is characterized in that, At least two of the transmitters are located at either the front, rear, left, or right of the movable platform. The mobile platform according to any one of claims 75 to 96 is characterized in that, At least three of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 97 is characterized in that, At least three of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to claim 98 is characterized in that, At least three of the aforementioned transmitters are located at three of the following locations: in front, behind, to the left, and to the right of the movable platform. The mobile platform according to claim 99 is characterized in that, At least four of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 100 is characterized in that, At least four of the transmitters are located above, below, in front of, behind, to the left of, and to the right of the movable platform. The mobile platform according to claim 101 is characterized in that, At least four of the transmitters are located in front of, behind, to the left of, and to the right of the movable platform, respectively. The mobile platform according to any one of claims 75 to 102 is characterized in that, All of the transmitters are located on different sides of the movable platform. The mobile platform according to claim 103 is characterized in that, All of the transmitters are located in front of, behind, to the left of, and to the right of the movable platform, respectively. The mobile platform according to any one of claims 75 to 104 is characterized in that, The horizontal field of view of the transmitter is greater than or equal to 180°. The mobile platform according to any one of claims 75 to 96 is characterized in that, The number of transmitters is two. The mobile platform according to any one of claims 75 to 96 is characterized in that, The number of transmitters includes two, with the two transmitters respectively located at the front and rear of the platform body. The mobile platform according to any one of claims 75 to 96 is characterized in that, The number of transmitters includes two, and the two transmitters are respectively located on the left and right sides of the platform body. The mobile platform according to any one of claims 75 to 108 is characterized in that, The horizontal field of view of the transmitter is greater than or equal to 120°. The mobile platform according to any one of claims 75 to 99 is characterized in that, The number of transmitters is three. The mobile platform according to any one of claims 75 to 99 is characterized in that, The number of transmitters includes three, with two transmitters located at the front and rear of the platform body, respectively, and the other transmitter located at the left or right of the platform body; or, the three transmitters are equally spaced on the side of the movable platform. The mobile platform according to any one of claims 75 to 99 is characterized in that, The number of transmitters includes three, with two transmitters located on the left and right sides of the platform body, and the other transmitter located in front of or behind the platform body. The mobile platform according to any one of claims 75 to 112 is characterized in that, The horizontal field of view of the transmitter is greater than or equal to 90°. The mobile platform according to any one of claims 75 to 113 is characterized in that, The number of transmitters is four. The mobile platform according to any one of claims 75 to 114 is characterized in that, The number of transmitters includes four, which are respectively located in front, behind, to the left and to the right of the platform body; or, the four transmitters are equally spaced on the side of the movable platform. The mobile platform according to any one of claims 75 to 115 is characterized in that, Each of the transmitters and each of the fisheye receivers are independently installed on the platform body. The mobile platform according to any one of claims 75 to 115 is characterized in that, Each of the transmitters and each of the fisheye receivers are integrated into the TOF detection device, which is mounted on the platform body. The mobile platform according to any one of claims 75 to 117 is characterized in that, The TOF detection device is fixedly installed on the platform body. The mobile platform according to any one of claims 75 to 117 is characterized in that, The TOF detection device is detachably connected to the platform body. The mobile platform according to any one of claims 75 to 119 is characterized in that, The mobile platform includes aircraft, mobile robots, vehicles, or ships. The mobile platform according to claim 120 is characterized in that, The mobile robots include cleaning robots. The mobile platform according to any one of claims 75 to 121 is characterized in that, The side forms an angle greater than or equal to 0 degrees and less than 90 degrees with the yaw axis of the movable platform. The mobile platform according to claim 122 is characterized in that, The side forms an angle greater than or equal to 0 degrees and less than 45 degrees with the yaw axis of the movable platform. A TOF detection device, characterized in that, include: At least two transmitters and two fisheye receivers, the transmitters being used to transmit light signals and the fisheye receivers being used to receive light signals reflected back by an object, wherein the TOF detection device can be mounted on the platform body of a movable platform; In this system, all the transmitters of the mobile platform are spaced apart from each other. The total detection range of at least two transmitters can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The total detection range of the two fisheye receivers can cover a 360° horizontal and a 360° vertical range of the surrounding environment of the mobile platform. The cooperation of at least two transmitters and two fisheye receivers enables omnidirectional perception of the surrounding environment of the mobile platform in both the horizontal and vertical directions. A TOF detection device, characterized in that, include: At least two transmitters and two fisheye receivers, the transmitters being used to transmit light signals and the fisheye receivers being used to receive light signals reflected back by an object, wherein the TOF detection device can be mounted on the platform body of a movable platform; The main receiving directions of the two fisheye receivers are both oriented towards the side of the mobile platform, and the side is not parallel to the yaw axis of the mobile platform. The total detection range of the at least two transmitters can cover a 360° horizontal range of the surrounding environment of the mobile platform, and the total detection range of the two fisheye receivers can cover a 360° horizontal range of the surrounding environment of the mobile platform. The cooperation of the at least two transmitters and the two fisheye receivers can enable omnidirectional perception of the 360° horizontal range of the surrounding environment of the mobile platform.

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