CN111712733A - 一种测距装置及移动平台 - Google Patents

一种测距装置及移动平台 Download PDF

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Publication number
CN111712733A
CN111712733A CN201980005162.5A CN201980005162A CN111712733A CN 111712733 A CN111712733 A CN 111712733A CN 201980005162 A CN201980005162 A CN 201980005162A CN 111712733 A CN111712733 A CN 111712733A
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CN
China
Prior art keywords
state
module
distance measuring
measuring device
ranging
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Pending
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CN201980005162.5A
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English (en)
Inventor
龙承辉
罗一俊
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
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Publication of CN111712733A publication Critical patent/CN111712733A/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
    • 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
    • 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
    • G01S7/483—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
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

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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

一种测距装置(100，200)及移动平台，测距装置(100，200)包括发射模块(203)、包括光学元件(214，215)的扫描模块(202)、探测模块(205)；测距装置(100，200)在上电后的工作状态包括待机状态和正常状态；其中，在正常状态中：发射模块(203)用于发射光脉冲序列；扫描模块(202)中的光学元件(214，215)保持在运动状态，以在不同时刻将光脉冲序列改变至不同方向出射；探测模块(205)用于接收经物体反射的回光的至少部分并转换为电信号，以及根据电信号确定物体与测距装置(100，200)的距离和/或方位；其中，在待机状态中：发射模块(203)暂停发射光脉冲序列；扫描模块(202)中的光学元件(214，215)保持在运动状态。

Description

PCT国内申请，说明书已公开。

Claims (19)

  1. PCT国内申请，权利要求书已公开。
CN201980005162.5A 2019-01-17 2019-01-17 一种测距装置及移动平台 Pending CN111712733A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/072245 WO2020147090A1 (zh) 2019-01-17 2019-01-17 一种测距装置及移动平台

Publications (1)

Publication Number Publication Date
CN111712733A true CN111712733A (zh) 2020-09-25

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US (1) US20210341580A1 (zh)
CN (1) CN111712733A (zh)
WO (1) WO2020147090A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022141098A1 (zh) * 2020-12-29 2022-07-07 深圳市大疆创新科技有限公司 探测方法和探测装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101216562A (zh) * 2007-01-05 2008-07-09 薛志强 激光测距系统
US20150124242A1 (en) * 2013-11-01 2015-05-07 Irobot Corporation Scanning Range Finder
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
CN107329132A (zh) * 2017-08-11 2017-11-07 深圳力策科技有限公司 一种基于光学相位阵列的激光雷达收发天线及测距方法
CN108693537A (zh) * 2017-04-11 2018-10-23 北醒（北京）光子科技有限公司 一种光学相控阵扫描探测方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101344591B (zh) * 2008-08-22 2010-12-15 清华大学 一种微型激光二维扫描测量系统
CN104406529A (zh) * 2014-11-25 2015-03-11 苏州市欧博锐自动化科技有限公司 一种通过激光测距获取物体宽高的检测系统
US10036801B2 (en) * 2015-03-05 2018-07-31 Big Sky Financial Corporation Methods and apparatus for increased precision and improved range in a multiple detector LiDAR array
WO2018218538A1 (zh) * 2017-05-31 2018-12-06 深圳市大疆创新科技有限公司 一种激光雷达的扫描控制方法、装置及设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101216562A (zh) * 2007-01-05 2008-07-09 薛志强 激光测距系统
US20150124242A1 (en) * 2013-11-01 2015-05-07 Irobot Corporation Scanning Range Finder
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
CN108693537A (zh) * 2017-04-11 2018-10-23 北醒（北京）光子科技有限公司 一种光学相控阵扫描探测方法
CN107329132A (zh) * 2017-08-11 2017-11-07 深圳力策科技有限公司 一种基于光学相位阵列的激光雷达收发天线及测距方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022141098A1 (zh) * 2020-12-29 2022-07-07 深圳市大疆创新科技有限公司 探测方法和探测装置

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US20210341580A1 (en) 2021-11-04

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Application publication date: 20200925