CN111868551A - 测距装置及其扫描机构、控制方法、可移动平台 - Google Patents

测距装置及其扫描机构、控制方法、可移动平台 Download PDF

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Publication number
CN111868551A
CN111868551A CN201980005321.1A CN201980005321A CN111868551A CN 111868551 A CN111868551 A CN 111868551A CN 201980005321 A CN201980005321 A CN 201980005321A CN 111868551 A CN111868551 A CN 111868551A
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China
Prior art keywords
motor
controller
motors
angle
slave controller
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Pending
Application number
CN201980005321.1A
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English (en)
Inventor
龙承辉
刘万启
赵进
何欢
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN111868551A publication Critical patent/CN111868551A/zh
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • H02P5/52—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another additionally providing control of relative angular displacement
    • H02P5/56—Speed and position comparison between the motors by electrical means
    • 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
    • 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
    • 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
    • G01S7/4811—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

Abstract

一种测距装置及其扫描机构、控制方法、可移动平台，该扫描机构(3)包括：多个光学元件(31)；多个电机(32)，与多个光学元件(31)相对应，电机(32)具有中空的转子，光学元件(31)安装在对应电机的转子上；和一个控制器(331)，控制器(331)控制多个电机(32)；或多个控制器(331)，至少一个控制器(331)控制至少两个电机(32)；当一个控制器(331)控制至少两个电机(32)时，控制器(331)基于第一同步控制策略控制至少两个电机(32)以预定角度差转动；当一个控制器(331)控制一个电机(32)时，控制器(331)基于第二同步控制策略控制电机(32)与其他至少一个电机(32)以预定角度差转动。采用不同的控制策略控制多个电机(32)以预定角度差转动，实现多个电机(32)的位置同步，减小多个光学元件(31)之间的角度差的波动。

Description

PCT国内申请，说明书已公开。

Claims (74)

  1. PCT国内申请，权利要求书已公开。
CN201980005321.1A 2019-01-09 2019-01-09 测距装置及其扫描机构、控制方法、可移动平台 Pending CN111868551A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/071011 WO2020142936A1 (zh) 2019-01-09 2019-01-09 测距装置及其扫描机构、控制方法、可移动平台

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Publication Number Publication Date
CN111868551A true CN111868551A (zh) 2020-10-30

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CN201980005321.1A Pending CN111868551A (zh) 2019-01-09 2019-01-09 测距装置及其扫描机构、控制方法、可移动平台

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US (1) US20210336566A1 (zh)
CN (1) CN111868551A (zh)
WO (1) WO2020142936A1 (zh)

Cited By (6)

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CN112394337A (zh) * 2020-11-09 2021-02-23 南京理工大学 自适应调整扫描角度的激光扫描探测装置及方法
WO2022193113A1 (zh) * 2021-03-16 2022-09-22 深圳市大疆创新科技有限公司 扫描模组、测距装置及可移动平台
CN115213923A (zh) * 2022-09-20 2022-10-21 深圳市欢创科技有限公司 旋转座、测距装置及移动机器人
CN115316877A (zh) * 2022-08-12 2022-11-11 广东六六达智慧健康科技有限公司 一种控制方法及坐便器辅助设备
WO2023029005A1 (zh) * 2021-09-03 2023-03-09 深圳市大疆创新科技有限公司 探测装置的视场控制方法、探测装置及可移动平台
CN115903570A (zh) * 2022-10-13 2023-04-04 广东摩法电子商务有限公司 按摩腰带的控制方法、装置及按摩腰带

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CN103733149A (zh) * 2011-08-01 2014-04-16 Thk株式会社 负载控制系统以及负载驱动系统
CN102998677A (zh) * 2011-09-16 2013-03-27 湖北华中光电科技有限公司 车载扫描式半导体激光预警雷达及其探测障碍物的方法
KR101246128B1 (ko) * 2012-05-29 2013-04-05 박수민 자동차 자동 운행 시스템
CN103592944A (zh) * 2013-10-24 2014-02-19 燕山大学 一种超市购物机器人及其行进路径规划方法
WO2015120753A1 (zh) * 2014-02-12 2015-08-20 韩磊 计算机互联网多个机器人组成的电动汽车电池组更换系统
CN104793637A (zh) * 2015-04-08 2015-07-22 北京科技大学 一种移动设备的实时跟踪系统及跟踪方法
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CN108496298A (zh) * 2017-04-28 2018-09-04 深圳市大疆创新科技有限公司 驱动装置、激光测量装置及移动平台

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112394337A (zh) * 2020-11-09 2021-02-23 南京理工大学 自适应调整扫描角度的激光扫描探测装置及方法
CN112394337B (zh) * 2020-11-09 2023-09-26 南京理工大学 自适应调整扫描角度的激光扫描探测装置及方法
WO2022193113A1 (zh) * 2021-03-16 2022-09-22 深圳市大疆创新科技有限公司 扫描模组、测距装置及可移动平台
WO2023029005A1 (zh) * 2021-09-03 2023-03-09 深圳市大疆创新科技有限公司 探测装置的视场控制方法、探测装置及可移动平台
CN115316877A (zh) * 2022-08-12 2022-11-11 广东六六达智慧健康科技有限公司 一种控制方法及坐便器辅助设备
CN115213923A (zh) * 2022-09-20 2022-10-21 深圳市欢创科技有限公司 旋转座、测距装置及移动机器人
CN115903570A (zh) * 2022-10-13 2023-04-04 广东摩法电子商务有限公司 按摩腰带的控制方法、装置及按摩腰带

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