CN111684305A - 一种测距系统及移动平台 - Google Patents

一种测距系统及移动平台 Download PDF

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Publication number
CN111684305A
CN111684305A CN201980005656.3A CN201980005656A CN111684305A CN 111684305 A CN111684305 A CN 111684305A CN 201980005656 A CN201980005656 A CN 201980005656A CN 111684305 A CN111684305 A CN 111684305A
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CN
China
Prior art keywords
type
ranging
distance measuring
devices
view
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Pending
Application number
CN201980005656.3A
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English (en)
Inventor
董帅
洪小平
刘祥
颜悦
桂潇怡
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN202310820870.2A priority Critical patent/CN117008142A/zh
Publication of CN111684305A publication Critical patent/CN111684305A/zh
Pending legal-status Critical Current

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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
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种测距系统及移动平台，该测距系统包括：第一类测距装置、第二类测距装置和第三类测距装置中的至少两种；其中，第一类测距装置和第二类测距装置均包括测距模组和扫描模组，测距模组包括用于出射光脉冲序列的光源，扫描模组包括两个旋转的光折射元件，其中，第二类测距装置的视场小于第一类测距装置的视场，且第二类测距装置中的会聚透镜的口径和焦距分别大于第一类测距装置中的会聚透镜的口径和焦距；第三类测距装置包括测距模组和扫描模组，测距模组包括用于出射光脉冲序列的光源，扫描模组包括三个旋转的光折射元件。

Description

PCT国内申请，说明书已公开。

Claims (56)

  1. PCT国内申请，权利要求书已公开。
CN201980005656.3A 2019-01-10 2019-01-10 一种测距系统及移动平台 Pending CN111684305A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310820870.2A CN117008142A (zh) 2019-01-10 2019-01-10 一种测距系统及移动平台

Applications Claiming Priority (1)

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PCT/CN2019/071233 WO2020143003A1 (zh) 2019-01-10 2019-01-10 一种测距系统及移动平台

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001004746A (ja) * 1999-06-16 2001-01-12 Nec Corp レール走行車両の衝突防止装置
CN201576094U (zh) * 2009-12-25 2010-09-08 樊涛 汽车安全行驶定位系统
CN105807290A (zh) * 2016-06-01 2016-07-27 杨星 一种逆反射体激光探测碰撞预警方法
US20160266242A1 (en) * 2015-03-13 2016-09-15 Advanced Scientific Concepts, Inc. Beam steering ladar sensor
CN205982639U (zh) * 2016-08-26 2017-02-22 深圳市大疆创新科技有限公司 扫描装置及无人驾驶设备
CN107678040A (zh) * 2017-11-03 2018-02-09 长春理工大学 用于车载三维成像固态激光雷达系统
US20180056993A1 (en) * 2013-05-24 2018-03-01 Continental Advanced Lidar Solutions Us, Llc Automotive auxiliary ladar sensor
CN107884762A (zh) * 2016-09-30 2018-04-06 比亚迪股份有限公司 激光雷达及车辆
CN108445468A (zh) * 2018-04-03 2018-08-24 上海禾赛光电科技有限公司 一种分布式激光雷达
CN109031244A (zh) * 2018-08-16 2018-12-18 北醒（北京）光子科技有限公司 一种激光雷达同轴光学系统及激光雷达

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106501809A (zh) * 2015-09-06 2017-03-15 北醒（北京）光子科技有限公司 一种用于无人机、无人车和行走机器人等智能设备的红外测距及避障装置
CN106680829B (zh) * 2015-11-06 2019-06-25 南京理工大学 线阵实时成像脉冲激光雷达装置
CN108627813B (zh) * 2018-08-13 2021-10-15 北京经纬恒润科技股份有限公司 一种激光雷达

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001004746A (ja) * 1999-06-16 2001-01-12 Nec Corp レール走行車両の衝突防止装置
CN201576094U (zh) * 2009-12-25 2010-09-08 樊涛 汽车安全行驶定位系统
US20180056993A1 (en) * 2013-05-24 2018-03-01 Continental Advanced Lidar Solutions Us, Llc Automotive auxiliary ladar sensor
US20160266242A1 (en) * 2015-03-13 2016-09-15 Advanced Scientific Concepts, Inc. Beam steering ladar sensor
CN105807290A (zh) * 2016-06-01 2016-07-27 杨星 一种逆反射体激光探测碰撞预警方法
CN205982639U (zh) * 2016-08-26 2017-02-22 深圳市大疆创新科技有限公司 扫描装置及无人驾驶设备
CN107884762A (zh) * 2016-09-30 2018-04-06 比亚迪股份有限公司 激光雷达及车辆
CN107678040A (zh) * 2017-11-03 2018-02-09 长春理工大学 用于车载三维成像固态激光雷达系统
CN108445468A (zh) * 2018-04-03 2018-08-24 上海禾赛光电科技有限公司 一种分布式激光雷达
CN109031244A (zh) * 2018-08-16 2018-12-18 北醒（北京）光子科技有限公司 一种激光雷达同轴光学系统及激光雷达

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US20210333369A1 (en) 2021-10-28
CN117008142A (zh) 2023-11-07
WO2020143003A1 (zh) 2020-07-16

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