CN108089201B - 障碍物信息获取方法、激光脉冲的发射方法及装置 - Google Patents
障碍物信息获取方法、激光脉冲的发射方法及装置 Download PDFInfo
- Publication number
- CN108089201B CN108089201B CN201711303228.8A CN201711303228A CN108089201B CN 108089201 B CN108089201 B CN 108089201B CN 201711303228 A CN201711303228 A CN 201711303228A CN 108089201 B CN108089201 B CN 108089201B
- Authority
- CN
- China
- Prior art keywords
- laser pulse
- laser
- moment
- emitting
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
Abstract
Description
Claims (10)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711303228.8A CN108089201B (zh) | 2017-12-08 | 2017-12-08 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
EP18884929.3A EP3722833A4 (en) | 2017-12-08 | 2018-12-07 | OBSTACLE INFORMATION PROCESS, AND LASER PULSE EMISSION PROCESS AND DEVICE |
PCT/CN2018/119721 WO2019109997A1 (zh) | 2017-12-08 | 2018-12-07 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
US16/805,061 US11346952B2 (en) | 2017-12-08 | 2020-02-28 | Systems and methods for light detection and ranging |
US17/555,655 US11573327B2 (en) | 2017-12-08 | 2021-12-20 | Systems and methods for light detection and ranging |
US17/731,411 US20220299647A1 (en) | 2017-12-08 | 2022-04-28 | Systems and methods for light detection and ranging |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711303228.8A CN108089201B (zh) | 2017-12-08 | 2017-12-08 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108089201A CN108089201A (zh) | 2018-05-29 |
CN108089201B true CN108089201B (zh) | 2020-04-24 |
Family
ID=62174510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711303228.8A Active CN108089201B (zh) | 2017-12-08 | 2017-12-08 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3722833A4 (zh) |
CN (1) | CN108089201B (zh) |
WO (1) | WO2019109997A1 (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11782132B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
US11782138B2 (en) | 2018-02-21 | 2023-10-10 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
US11789128B2 (en) | 2021-03-01 | 2023-10-17 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
US11808888B2 (en) | 2018-02-23 | 2023-11-07 | Innovusion, Inc. | Multi-wavelength pulse steering in LiDAR systems |
US11860313B2 (en) | 2018-06-15 | 2024-01-02 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
US11977184B2 (en) | 2018-01-09 | 2024-05-07 | Seyond, Inc. | LiDAR detection systems and methods that use multi-plane mirrors |
US11977185B1 (en) | 2019-04-04 | 2024-05-07 | Seyond, Inc. | Variable angle polygon for use with a LiDAR system |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
EP3563180A4 (en) | 2016-12-30 | 2020-08-19 | Innovusion Ireland Limited | MULTI-WAVELENGTH LIDAR DESIGN |
US10969475B2 (en) | 2017-01-05 | 2021-04-06 | Innovusion Ireland Limited | Method and system for encoding and decoding LiDAR |
US11009605B2 (en) | 2017-01-05 | 2021-05-18 | Innovusion Ireland Limited | MEMS beam steering and fisheye receiving lens for LiDAR system |
US11346952B2 (en) | 2017-12-08 | 2022-05-31 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
CN108089201B (zh) * | 2017-12-08 | 2020-04-24 | 上海禾赛光电科技有限公司 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
US11927696B2 (en) | 2018-02-21 | 2024-03-12 | Innovusion, Inc. | LiDAR systems with fiber optic coupling |
US11289873B2 (en) | 2018-04-09 | 2022-03-29 | Innovusion Ireland Limited | LiDAR systems and methods for exercising precise control of a fiber laser |
US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
WO2020102406A1 (en) | 2018-11-14 | 2020-05-22 | Innovusion Ireland Limited | Lidar systems and methods that use a multi-facet mirror |
US11486984B2 (en) | 2018-12-26 | 2022-11-01 | Beijing Voyager Technology Co., Ltd. | Three-dimensional light detection and ranging system using hybrid TDC and ADC receiver |
US11506764B2 (en) | 2018-12-26 | 2022-11-22 | Beijing Voyager Technology Co., Ltd. | System and methods for ranging operations using multiple signals |
WO2020139380A1 (en) * | 2018-12-26 | 2020-07-02 | Didi Research America, Llc | Three-dimensional light detection and ranging system using hybrid tdc and adc receiver |
WO2020146493A1 (en) | 2019-01-10 | 2020-07-16 | Innovusion Ireland Limited | Lidar systems and methods with beam steering and wide angle signal detection |
US11486970B1 (en) | 2019-02-11 | 2022-11-01 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a LiDAR system |
CN109946675A (zh) * | 2019-03-27 | 2019-06-28 | 北醒(北京)光子科技有限公司 | 一种激光雷达杂散光抑制电路 |
CN110488251B (zh) * | 2019-08-26 | 2021-07-27 | 山东国耀量子雷达科技有限公司 | 激光雷达系统及其激光雷达回波信号曲线的获得方法、装置 |
CN110456374B (zh) * | 2019-08-30 | 2021-07-06 | 上海禾赛科技股份有限公司 | 激光雷达的发射电路、激光雷达及激光雷达的测距方法 |
CN110456372A (zh) * | 2019-08-30 | 2019-11-15 | 上海禾赛光电科技有限公司 | 激光雷达系统的测距方法以及激光雷达系统 |
CN110850427B (zh) * | 2019-11-26 | 2022-06-14 | 上海禾赛科技有限公司 | 可用于激光雷达的放大电路、激光雷达、控制方法 |
CN113050070B (zh) * | 2019-12-27 | 2023-03-14 | 北京万集科技股份有限公司 | 激光雷达数据处理方法、装置、设备及存储介质 |
CN115190979A (zh) * | 2020-01-21 | 2022-10-14 | 上海禾赛科技有限公司 | 用于光探测和测距的系统和方法 |
CN111239753A (zh) * | 2020-03-18 | 2020-06-05 | 福建海创光电有限公司 | 一种有效解决回返杂散光干扰的激光测距装置 |
CN111965625B (zh) * | 2020-08-11 | 2023-02-21 | 上海禾赛科技有限公司 | 用于激光雷达的校正方法及装置、环境感知系统 |
CN112867938B (zh) * | 2020-12-24 | 2023-08-25 | 深圳市速腾聚创科技有限公司 | 激光发射控制方法、装置及相关设备 |
US11921234B2 (en) | 2021-02-16 | 2024-03-05 | Innovusion, Inc. | Attaching a glass mirror to a rotating metal motor frame |
US11422267B1 (en) | 2021-02-18 | 2022-08-23 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
EP4305450A1 (en) | 2021-04-22 | 2024-01-17 | Innovusion, Inc. | A compact lidar design with high resolution and ultra-wide field of view |
EP4314884A1 (en) | 2021-05-21 | 2024-02-07 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside lidar scanner |
CN115508850A (zh) * | 2021-06-07 | 2022-12-23 | 上海禾赛科技有限公司 | 激光雷达的控制方法及激光雷达 |
WO2022257137A1 (zh) * | 2021-06-11 | 2022-12-15 | 深圳市大疆创新科技有限公司 | 激光雷达控制方法、装置、激光雷达及存储介质 |
US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
CN114325738B (zh) * | 2021-12-23 | 2023-01-10 | 探维科技(北京)有限公司 | 测量距离的方法及激光雷达 |
CN116930987A (zh) * | 2022-04-02 | 2023-10-24 | 上海禾赛科技有限公司 | 激光雷达的探测方法、计算机存储介质以及激光雷达 |
CN115517633B (zh) * | 2022-11-29 | 2023-05-09 | 季华实验室 | 成像装置 |
Family Cites Families (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4047117A (en) * | 1974-01-17 | 1977-09-06 | Hughes Aircraft Company | Multi-level laser illuminator |
US4128759A (en) * | 1977-11-21 | 1978-12-05 | The United States Of America As Represented By The Secretary Of The Navy | Fiber optic delay line filter |
GB0123640D0 (en) * | 2001-09-19 | 2003-04-09 | Matra Bae Dynamics Uk Ltd | Multiple pulse generation |
CN101373217B (zh) * | 2008-08-28 | 2011-12-28 | 阮树成 | 毫米波船用调频多通道防撞雷达 |
CN101414729B (zh) * | 2008-11-24 | 2013-03-27 | 南京大学 | 一种自锁模激光器 |
CN102200580A (zh) * | 2010-03-25 | 2011-09-28 | 付陆欣 | 用于手持式激光测距仪的测距方法 |
CN102419435B (zh) * | 2011-08-12 | 2013-06-12 | 中国科学技术大学 | 一种激光雷达中全光纤背景光压制和近场信号动态范围抑制技术的光学探测组件 |
ES2436873B1 (es) * | 2012-05-31 | 2014-12-12 | Universidad Politécnica De Valencia | Línea de retardo muestreada |
US9157989B2 (en) * | 2012-08-29 | 2015-10-13 | Trimble Ab | Distance measurement methods and apparatus |
JP6103179B2 (ja) * | 2012-09-13 | 2017-03-29 | 株式会社リコー | 距離測定装置 |
CN103235314B (zh) * | 2013-04-19 | 2015-05-06 | 常州大地测绘科技有限公司 | 脉冲激光测距系统及方法 |
US9575184B2 (en) * | 2014-07-03 | 2017-02-21 | Continental Advanced Lidar Solutions Us, Inc. | LADAR sensor for a dense environment |
CN104359564B (zh) * | 2014-11-19 | 2018-11-02 | 湖北三江航天红峰控制有限公司 | 一种脉冲激光光束质量同步测量系统及其同步控制方法 |
US10126411B2 (en) * | 2015-03-13 | 2018-11-13 | Continental Advanced Lidar Solutions Us, Llc. | Beam steering LADAR sensor |
EP3070494B1 (de) * | 2015-03-18 | 2021-04-28 | Leica Geosystems AG | Elektrooptisches distanzmessverfahren und ebensolcher distanzmesser |
JP6428462B2 (ja) * | 2015-04-17 | 2018-11-28 | 三菱電機株式会社 | レーザレーダ装置 |
CN106772404B (zh) * | 2015-11-23 | 2023-11-03 | 北京万集科技股份有限公司 | 激光雷达测距装置及方法 |
CN205809286U (zh) * | 2016-05-03 | 2016-12-14 | 中国科学院上海技术物理研究所 | 提高回波动态范围的新型双通道激光雷达接收系统 |
CN206193241U (zh) * | 2016-09-12 | 2017-05-24 | 北京万集科技股份有限公司 | 三维激光的测距装置 |
CN106154248A (zh) * | 2016-09-13 | 2016-11-23 | 深圳市佶达德科技有限公司 | 一种激光雷达光学接收装置及激光雷达测距方法 |
CN206450825U (zh) * | 2016-12-08 | 2017-08-29 | 北京万集科技股份有限公司 | 一种双激光驱动电路和扫描式激光雷达测距设备 |
CN109702325B (zh) * | 2017-07-06 | 2020-09-01 | 温州职业技术学院 | 一种动态调节脉冲能量与时间间隔的激光加工方法 |
CN108089201B (zh) * | 2017-12-08 | 2020-04-24 | 上海禾赛光电科技有限公司 | 障碍物信息获取方法、激光脉冲的发射方法及装置 |
-
2017
- 2017-12-08 CN CN201711303228.8A patent/CN108089201B/zh active Active
-
2018
- 2018-12-07 WO PCT/CN2018/119721 patent/WO2019109997A1/zh unknown
- 2018-12-07 EP EP18884929.3A patent/EP3722833A4/en active Pending
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11782132B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
US11782131B2 (en) | 2016-12-31 | 2023-10-10 | Innovusion, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
US11899134B2 (en) | 2016-12-31 | 2024-02-13 | Innovusion, Inc. | 2D scanning high precision lidar using combination of rotating concave mirror and beam steering devices |
US11977183B2 (en) | 2016-12-31 | 2024-05-07 | Seyond, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
US11977184B2 (en) | 2018-01-09 | 2024-05-07 | Seyond, Inc. | LiDAR detection systems and methods that use multi-plane mirrors |
US11782138B2 (en) | 2018-02-21 | 2023-10-10 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
US11808888B2 (en) | 2018-02-23 | 2023-11-07 | Innovusion, Inc. | Multi-wavelength pulse steering in LiDAR systems |
US11860313B2 (en) | 2018-06-15 | 2024-01-02 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
US11977185B1 (en) | 2019-04-04 | 2024-05-07 | Seyond, Inc. | Variable angle polygon for use with a LiDAR system |
US11789128B2 (en) | 2021-03-01 | 2023-10-17 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
Also Published As
Publication number | Publication date |
---|---|
CN108089201A (zh) | 2018-05-29 |
WO2019109997A1 (zh) | 2019-06-13 |
EP3722833A4 (en) | 2021-01-13 |
EP3722833A1 (en) | 2020-10-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108089201B (zh) | 障碍物信息获取方法、激光脉冲的发射方法及装置 | |
CN110244311A (zh) | 激光雷达接收装置、激光雷达系统和激光测距方法 | |
EP3457177B1 (en) | Distance measurement apparatus | |
EP3088914B1 (en) | Distance measuring apparatus, electronic apparatus, distance measuring method, and distance measuring program | |
US20210325515A1 (en) | Transmit signal design for an optical distance measurement system | |
CN107632298B (zh) | 一种应用于脉冲式激光雷达系统的高灵敏度接收电路 | |
JP2013096905A (ja) | 測距装置 | |
CN109459757A (zh) | 一种近距离动态目标脉冲激光测距仪和测量方法 | |
Hintikka et al. | Experimental investigation into laser ranging with sub-ns laser pulses | |
JP2941593B2 (ja) | 距離測定装置 | |
JP2002311138A (ja) | 車両用測距装置 | |
WO2017138155A1 (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 | |
JP2022190043A (ja) | 電子装置及び距離計測方法 | |
CN109932705B (zh) | 一种超宽动态范围激光回波接收装置及其控制方法 | |
CN110646804B (zh) | 基于双脉冲激光信号的脉冲时刻鉴别电路 | |
US20220334234A1 (en) | Method for generating light pulses of a lidar system | |
WO2021146954A1 (en) | Systems and methods for light detection and ranging | |
CN107272011A (zh) | 时点鉴别方法、时点鉴别电路系统及激光测距系统 | |
CN212433402U (zh) | 一种激光回波测距装置 | |
JP5515199B2 (ja) | 光パルス試験装置及びその調整方法 | |
CN113495280B (zh) | 激光雷达测距信息的获取方法、装置、电子设备及存储介质 | |
KR102308786B1 (ko) | 차량용 라이다 시스템 및 그것의 신호 처리 방법 | |
US20220206115A1 (en) | Detection and ranging operation of close proximity object | |
US20240019555A1 (en) | Method and device for laser detection, and computer-readable storage medium | |
JP7131181B2 (ja) | 距離測定装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address |
Address after: 201800 Building 2, no.468 xinlai Road, Jiading District, Shanghai Patentee after: Shanghai Hesai Technology Co., Ltd Address before: 201821 building A4, No. 925, Yecheng Road, Jiading District, Shanghai Patentee before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Patentee after: Shanghai Hesai Technology Co.,Ltd. Address before: 201800 Building 2, no.468, xinlai Road, Jiading District, Shanghai Patentee before: Shanghai Hesai Technology Co., Ltd |
|
CP03 | Change of name, title or address |