CN104655097B - 激光测距传感器及其测距方法 - Google Patents
激光测距传感器及其测距方法 Download PDFInfo
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- CN104655097B CN104655097B CN201310591303.0A CN201310591303A CN104655097B CN 104655097 B CN104655097 B CN 104655097B CN 201310591303 A CN201310591303 A CN 201310591303A CN 104655097 B CN104655097 B CN 104655097B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000035945 sensitivity Effects 0.000 abstract description 6
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
Abstract
Description
Claims (10)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310591303.0A CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
US15/038,328 US10175357B2 (en) | 2013-11-21 | 2014-11-21 | Laser range finding sensor and range finding method thereof |
JP2016532035A JP6691650B2 (ja) | 2013-11-21 | 2014-11-21 | レーザー距離測定センサーおよびその距離測定方法 |
DE112014005337.6T DE112014005337B4 (de) | 2013-11-21 | 2014-11-21 | Laser-Entfernungsmessungs-Sensor und Entfernungsmessungs-Verfahren dafür |
PCT/CN2014/091848 WO2015074594A1 (zh) | 2013-11-21 | 2014-11-21 | 激光测距传感器及其测距方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310591303.0A CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104655097A CN104655097A (zh) | 2015-05-27 |
CN104655097B true CN104655097B (zh) | 2017-04-19 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310591303.0A Active CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10175357B2 (zh) |
JP (1) | JP6691650B2 (zh) |
CN (1) | CN104655097B (zh) |
DE (1) | DE112014005337B4 (zh) |
WO (1) | WO2015074594A1 (zh) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10042042B2 (en) * | 2015-06-12 | 2018-08-07 | Aero Vironment, Inc. | Rotating lidar |
CN105388468A (zh) * | 2015-10-29 | 2016-03-09 | 番禺得意精密电子工业有限公司 | 镭射检测装置的扫描方法 |
CN105988120B (zh) * | 2015-12-30 | 2020-06-02 | 小米科技有限责任公司 | 激光测距设备及自动清洁设备 |
DE102016103144A1 (de) * | 2016-02-23 | 2017-08-24 | Vishay Semiconductor Gmbh | Optoelektronische Vorrichtung |
CN106154815A (zh) * | 2016-07-27 | 2016-11-23 | 哈尔滨睿之芯信息技术股份有限公司 | 用于测距领域的高精度时间测控系统 |
CN107356929B (zh) | 2016-08-29 | 2020-07-28 | 北醒(北京)光子科技有限公司 | 一种快速扫描探测方法 |
CN106597461A (zh) * | 2016-12-16 | 2017-04-26 | 西安五湖智联半导体有限公司 | 一种二维扫描测距装置 |
CN107462881A (zh) * | 2017-07-21 | 2017-12-12 | 北京航空航天大学 | 一种激光测距传感器标定方法 |
DE102017214702B4 (de) * | 2017-08-23 | 2022-08-11 | Robert Bosch Gmbh | LIDAR-Vorrichtung zur optischen Erfassung eines Sichtfeldes |
US11353556B2 (en) | 2017-12-07 | 2022-06-07 | Ouster, Inc. | Light ranging device with a multi-element bulk lens system |
CN109737015B (zh) * | 2019-01-23 | 2020-05-22 | 内蒙古工业大学 | 水平轴复合材料风力机叶片力学性能实验测试装置 |
CN111486811B (zh) * | 2019-01-25 | 2022-01-18 | 科沃斯机器人股份有限公司 | 测距模组及其测距方法与清洁机器人 |
CN112236649A (zh) * | 2019-11-04 | 2021-01-15 | 深圳市大疆创新科技有限公司 | 传感器、可移动平台及微波雷达传感器 |
CN113043263B (zh) * | 2019-12-26 | 2022-07-26 | 沈阳新松机器人自动化股份有限公司 | 一种机器人的标定工件 |
CN215078055U (zh) * | 2021-04-07 | 2021-12-10 | 深圳市欢创科技有限公司 | 距离测量装置和扫地机器人 |
CN111175722A (zh) * | 2020-01-20 | 2020-05-19 | 北京电子工程总体研究所 | 一种基于激光自混合技术的自动测距测量系统及方法 |
CN216984738U (zh) * | 2022-01-11 | 2022-07-19 | 北京石头世纪科技股份有限公司 | 自动清洁设备 |
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CN101910867A (zh) * | 2008-01-16 | 2010-12-08 | 皇家飞利浦电子股份有限公司 | 基于自混合干涉的激光传感器系统 |
CN203642908U (zh) * | 2013-11-21 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | 激光测距传感器 |
JP5626770B2 (ja) * | 2010-06-08 | 2014-11-19 | 株式会社Ihiエアロスペース | レーザ距離測定装置 |
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-
2013
- 2013-11-21 CN CN201310591303.0A patent/CN104655097B/zh active Active
-
2014
- 2014-11-21 DE DE112014005337.6T patent/DE112014005337B4/de active Active
- 2014-11-21 JP JP2016532035A patent/JP6691650B2/ja active Active
- 2014-11-21 US US15/038,328 patent/US10175357B2/en active Active
- 2014-11-21 WO PCT/CN2014/091848 patent/WO2015074594A1/zh active Application Filing
Patent Citations (4)
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CN1590956A (zh) * | 2003-08-27 | 2005-03-09 | 石川岛播磨重工业株式会社 | 激光距离测定装置 |
CN101910867A (zh) * | 2008-01-16 | 2010-12-08 | 皇家飞利浦电子股份有限公司 | 基于自混合干涉的激光传感器系统 |
JP5626770B2 (ja) * | 2010-06-08 | 2014-11-19 | 株式会社Ihiエアロスペース | レーザ距離測定装置 |
CN203642908U (zh) * | 2013-11-21 | 2014-06-11 | 科沃斯机器人科技(苏州)有限公司 | 激光测距传感器 |
Also Published As
Publication number | Publication date |
---|---|
JP6691650B2 (ja) | 2020-05-13 |
US10175357B2 (en) | 2019-01-08 |
DE112014005337T5 (de) | 2016-08-04 |
JP2017502264A (ja) | 2017-01-19 |
DE112014005337B4 (de) | 2023-01-12 |
CN104655097A (zh) | 2015-05-27 |
US20160291158A1 (en) | 2016-10-06 |
WO2015074594A1 (zh) | 2015-05-28 |
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