CN113767303A - 激光测距装置、激光测距方法和可移动平台 - Google Patents
激光测距装置、激光测距方法和可移动平台 Download PDFInfo
- Publication number
- CN113767303A CN113767303A CN202080005195.2A CN202080005195A CN113767303A CN 113767303 A CN113767303 A CN 113767303A CN 202080005195 A CN202080005195 A CN 202080005195A CN 113767303 A CN113767303 A CN 113767303A
- Authority
- CN
- China
- Prior art keywords
- receiving
- laser
- units
- laser ranging
- emitting
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000003287 optical effect Effects 0.000 claims abstract description 94
- 238000000098 azimuthal photoelectron diffraction Methods 0.000 claims description 55
- 238000005070 sampling Methods 0.000 claims description 24
- 238000005538 encapsulation Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 abstract description 7
- 230000001276 controlling effect Effects 0.000 description 22
- 238000013461 design Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000003321 amplification Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000011521 glass Substances 0.000 description 6
- 238000003199 nucleic acid amplification method Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 239000000758 substrate Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 5
- 230000008447 perception Effects 0.000 description 5
- 229910002601 GaN Inorganic materials 0.000 description 4
- JMASRVWKEDWRBT-UHFFFAOYSA-N Gallium nitride Chemical compound [Ga]#N JMASRVWKEDWRBT-UHFFFAOYSA-N 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229920006395 saturated elastomer Polymers 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 229910000530 Gallium indium arsenide Inorganic materials 0.000 description 2
- 229910000661 Mercury cadmium telluride Inorganic materials 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000382 optic material Substances 0.000 description 2
- 238000013021 overheating Methods 0.000 description 2
- 238000012858 packaging process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000000638 solvent extraction Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- JNDMLEXHDPKVFC-UHFFFAOYSA-N aluminum;oxygen(2-);yttrium(3+) Chemical compound [O-2].[O-2].[O-2].[Al+3].[Y+3] JNDMLEXHDPKVFC-UHFFFAOYSA-N 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 239000003574 free electron Substances 0.000 description 1
- CPBQJMYROZQQJC-UHFFFAOYSA-N helium neon Chemical compound [He].[Ne] CPBQJMYROZQQJC-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- QWVYNEUUYROOSZ-UHFFFAOYSA-N trioxido(oxo)vanadium;yttrium(3+) Chemical compound [Y+3].[O-][V]([O-])([O-])=O QWVYNEUUYROOSZ-UHFFFAOYSA-N 0.000 description 1
- 229910019901 yttrium aluminum garnet Inorganic materials 0.000 description 1
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
-
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
-
- 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
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
Landscapes
- 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
本发明提供一种激光测距装置、激光测距方法和可移动平台，所述激光测距装置包括发射模块和接收模块，其中：所述发射模块包括发射电路和发射光学系统，所述发射电路用于发射激光脉冲，所述发射光学系统用于发散所述激光脉冲，以使其覆盖指定的视场区域；所述接收模块包括接收电路和接收光学系统，所述接收电路包括工作在线性模式下的APD阵列，用于接收所述激光脉冲经被测物反射回的至少部分回光脉冲并将其转换为电信号，所述接收光学系统用于将所述回光脉冲汇聚到所述APD阵列上。本发明采用工作在线性模式下的APD阵列，测距量程大，动态范围大，信噪比高，可以有效地减小环境光噪声的干扰，能够适应复杂的使用环境。
Description
PCT国内申请，说明书已公开。
Claims (58)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/083300 WO2021196201A1 (zh) | 2020-04-03 | 2020-04-03 | 激光测距装置、激光测距方法和可移动平台 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113767303A true CN113767303A (zh) | 2021-12-07 |
Family
ID=77927570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080005195.2A Pending CN113767303A (zh) | 2020-04-03 | 2020-04-03 | 激光测距装置、激光测距方法和可移动平台 |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20230022688A1 (zh) |
| CN (1) | CN113767303A (zh) |
| WO (1) | WO2021196201A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184436A (zh) * | 2023-03-07 | 2023-05-30 | 哈尔滨工业大学 | 阵列轨道角动量穿云透雾量子探测成像系统 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116413730B (zh) * | 2021-12-29 | 2024-05-31 | 深圳市速腾聚创科技有限公司 | 测距方法、装置、存储介质及激光雷达 |
| WO2023164944A1 (zh) * | 2022-03-04 | 2023-09-07 | 深圳市大疆创新科技有限公司 | 雪崩光电二极管阵列芯片、接收器、测距装置及可移动平台 |
| CN116736267B (zh) * | 2023-08-16 | 2023-12-15 | 深圳市灵明光子科技有限公司 | 一种激光测距接收芯片及其在标定过程中的配置方法 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412313A (zh) * | 2013-07-30 | 2013-11-27 | 桂林理工大学 | 低空轻小型面阵激光雷达测量系统 |
| CN106840420A (zh) * | 2017-02-23 | 2017-06-13 | 北京邮电大学 | 一种红外单光子探测设备 |
| CN108845331A (zh) * | 2018-06-28 | 2018-11-20 | 中国电子科技集团公司信息科学研究院 | 一种激光雷达探测系统 |
| TW201920986A (zh) * | 2017-07-05 | 2019-06-01 | 美商奧斯特公司 | 具有電子掃描發射器陣列及同步感測器陣列之光測距裝置 |
| CN109917354A (zh) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | 激光雷达的接收装置、激光雷达及其回波处理方法 |
| CN110109085A (zh) * | 2019-04-15 | 2019-08-09 | 东南大学 | 基于双模切换的低功耗宽量程阵列型光子计时读出电路 |
| CN110268283A (zh) * | 2016-11-16 | 2019-09-20 | 创新科技有限公司 | 激光雷达系统和方法 |
| CN110927734A (zh) * | 2019-11-24 | 2020-03-27 | 深圳奥锐达科技有限公司 | 一种激光雷达系统及其抗干扰方法 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0836046A (ja) * | 1994-07-25 | 1996-02-06 | Idec Izumi Corp | アバランシェフォトダイオード光検知システム及びアバランシェフォトダイオード光検知システムを用いた光波測距装置 |
| 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 |
-
2020
- 2020-04-03 CN CN202080005195.2A patent/CN113767303A/zh active Pending
- 2020-04-03 WO PCT/CN2020/083300 patent/WO2021196201A1/zh active Application Filing
-
2022
- 2022-10-02 US US17/958,427 patent/US20230022688A1/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103412313A (zh) * | 2013-07-30 | 2013-11-27 | 桂林理工大学 | 低空轻小型面阵激光雷达测量系统 |
| CN110268283A (zh) * | 2016-11-16 | 2019-09-20 | 创新科技有限公司 | 激光雷达系统和方法 |
| CN106840420A (zh) * | 2017-02-23 | 2017-06-13 | 北京邮电大学 | 一种红外单光子探测设备 |
| TW201920986A (zh) * | 2017-07-05 | 2019-06-01 | 美商奧斯特公司 | 具有電子掃描發射器陣列及同步感測器陣列之光測距裝置 |
| CN108845331A (zh) * | 2018-06-28 | 2018-11-20 | 中国电子科技集团公司信息科学研究院 | 一种激光雷达探测系统 |
| CN110109085A (zh) * | 2019-04-15 | 2019-08-09 | 东南大学 | 基于双模切换的低功耗宽量程阵列型光子计时读出电路 |
| CN109917354A (zh) * | 2019-04-26 | 2019-06-21 | 上海禾赛光电科技有限公司 | 激光雷达的接收装置、激光雷达及其回波处理方法 |
| CN110927734A (zh) * | 2019-11-24 | 2020-03-27 | 深圳奥锐达科技有限公司 | 一种激光雷达系统及其抗干扰方法 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116184436A (zh) * | 2023-03-07 | 2023-05-30 | 哈尔滨工业大学 | 阵列轨道角动量穿云透雾量子探测成像系统 |
| CN116184436B (zh) * | 2023-03-07 | 2023-11-17 | 哈尔滨工业大学 | 阵列轨道角动量穿云透雾量子探测成像系统 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021196201A1 (zh) | 2021-10-07 |
| US20230022688A1 (en) | 2023-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021196201A1 (zh) | 激光测距装置、激光测距方法和可移动平台 | |
| US20200057151A1 (en) | Integrated lidar image-sensor devices and systems and related methods of operation | |
| US20230014366A1 (en) | Laser transceiver system, lidar, and autonomous driving apparatus | |
| KR20210068585A (ko) | 고감도 광자 혼합 구조물들 및 그 어레이들을 포함하는 고 양자 효율 가이거 모드 애벌란치 다이오드들 | |
| CN111954827B (zh) | 利用波长转换的lidar测量系统 | |
| EP3611533B1 (en) | Apparatus for providing a plurality of light beams | |
| KR20180072657A (ko) | 측거 장치 | |
| EP3797317B1 (en) | Short wavelength infrared lidar | |
| CN112558105A (zh) | 激光雷达系统及激光雷达系统的控制方法 | |
| CN112997096A (zh) | 激光雷达及自动驾驶设备 | |
| CN113167870A (zh) | 激光收发系统、激光雷达及自动驾驶设备 | |
| CN108828559B (zh) | 激光雷达装置和激光雷达系统 | |
| Lee et al. | Single-chip beam scanner with integrated light source for real-time light detection and ranging | |
| WO2022061821A1 (zh) | 器件及其制备方法、接收芯片、测距装置、可移动平台 | |
| WO2022198386A1 (zh) | 激光测距装置、激光测距方法和可移动平台 | |
| CN111413687A (zh) | 激光雷达光学系统与激光雷达 | |
| CN116660868B (zh) | 电子设备 | |
| CN114935742B (zh) | 发射模组、光电检测装置及电子设备 | |
| Hallman et al. | On two-dimensional rangefinding using a∼ 1 nJ/∼ 100 ps laser diode transmitter and a CMOS SPAD matrix | |
| CN114935743B (zh) | 发射模组、光电检测装置及电子设备 | |
| CN112219324A (zh) | 激光二极管芯片、封装模块、发射及测距装置、电子设备 | |
| WO2022126429A1 (zh) | 测距装置、测距方法和可移动平台 | |
| Qian et al. | Single Photon Detectors for Automotive LiDAR Applications: State-of-the-Art and Research Challenges | |
| CN110471071B (zh) | 一种多线状光型全固态激光雷达 | |
| CN116438464A (zh) | 用于改进激光雷达检测的共封装光电检测器和读数电路 |
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 |