CN113924505A - 测距装置、测距方法及可移动平台 - Google Patents

测距装置、测距方法及可移动平台 Download PDF

Info

Publication number
CN113924505A
CN113924505A CN202080038977.6A CN202080038977A CN113924505A CN 113924505 A CN113924505 A CN 113924505A CN 202080038977 A CN202080038977 A CN 202080038977A CN 113924505 A CN113924505 A CN 113924505A
Authority
CN
China
Prior art keywords
optical element
scanning
scanning module
optical
specified
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
Application number
CN202080038977.6A
Other languages
English (en)
Inventor
杨阳
陈亚林
梅雄泽
黄淮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN113924505A publication Critical patent/CN113924505A/zh
Pending legal-status Critical Current

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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04—Display arrangements
    • G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • G01S7/08—Cathode-ray tube displays or other two dimensional or three-dimensional displays with vernier indication of distance, e.g. using two cathode-ray tubes
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures

Landscapes

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

Abstract

一种测距装置、测距方法及可移动平台。测距装置(100)包括测距模块(200)和扫描模块(300)，测距模块(200)包括至少一个用于出射光脉冲序列的激光器(201)，扫描模块(300)包括至少一个光学元件(301)；扫描模块(300)内的光学元件(301)用于不断改变光脉冲序列的传输方向后出射，以使得每个激光器(201)出射的光脉冲序列对探测环境进行两个维度上的扫描；测距模块(200)用于根据经反射回的光脉冲产生点云，并以指定帧率输出点云帧；其中，当光学元件(301)在第一指定速度运动时，输出的N帧相邻点云帧内点云的扫描轨迹不重合；当光学元件(301)在第二指定速度运动时，输出的N帧相邻点云帧内点云的扫描轨迹全部或部分重叠；N为正整数。测距装置(100)既支持重复式扫描也支持非重复式扫描。

Description

PCT国内申请，说明书已公开。

Claims (67)

  1. PCT国内申请，权利要求书已公开。
CN202080038977.6A 2020-05-09 2020-05-09 测距装置、测距方法及可移动平台 Pending CN113924505A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/089485 WO2021226764A1 (zh) 2020-05-09 2020-05-09 测距装置、测距方法及可移动平台

Publications (1)

Publication Number Publication Date
CN113924505A true CN113924505A (zh) 2022-01-11

Family

ID=78526100

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080038977.6A Pending CN113924505A (zh) 2020-05-09 2020-05-09 测距装置、测距方法及可移动平台

Country Status (2)

Country Link
CN (1) CN113924505A (zh)
WO (1) WO2021226764A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115754981A (zh) * 2022-10-31 2023-03-07 深圳市速腾聚创科技有限公司 基于振镜的激光控制方法、标定方法、装置和激光雷达
WO2023184060A1 (zh) * 2022-03-28 2023-10-05 深圳市大疆创新科技有限公司 探测装置和可移动平台
WO2023240619A1 (zh) * 2022-06-14 2023-12-21 探维科技(北京)有限公司 测量距离的方法及激光雷达

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113924505A (zh) * 2020-05-09 2022-01-11 深圳市大疆创新科技有限公司 测距装置、测距方法及可移动平台
WO2023184061A1 (zh) * 2022-03-28 2023-10-05 深圳市大疆创新科技有限公司 控制方法、探测装置、可移动平台及计算机可读存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4868657A (en) * 1986-12-05 1989-09-19 Gec-Marconi Limited System for image production by variable scanning
JPH07218633A (ja) * 1993-12-08 1995-08-18 Nikon Corp 距離測定装置
US20140321605A1 (en) * 2013-04-25 2014-10-30 Moshe Ein-Gal Cone beam ct scanning
CN204366037U (zh) * 2014-12-13 2015-06-03 广东汉唐量子光电科技有限公司 一种用于3d打印扫描的控制装置
CN107367737A (zh) * 2016-05-13 2017-11-21 北醒（北京）光子科技有限公司 一种多线旋转扫描探测方法
WO2021226764A1 (zh) * 2020-05-09 2021-11-18 深圳市大疆创新科技有限公司 测距装置、测距方法及可移动平台

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6639201B2 (en) * 2001-11-07 2003-10-28 Applied Materials, Inc. Spot grid array imaging system
JP2005221333A (ja) * 2004-02-04 2005-08-18 Hokuyo Automatic Co レンジセンサ及びレンジセンサの相互干渉抑制方法
US10012734B2 (en) * 2014-05-21 2018-07-03 DSCG Solutions, Inc. Devices, systems, and methods for real time tracking of an object
JP6333396B2 (ja) * 2015-06-26 2018-05-30 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モバイルプラットフォームの変位を計測する方法及び装置
CN106289098B (zh) * 2016-07-22 2018-09-14 武汉海达数云技术有限公司 三维激光扫描仪的旋转控制方法
CN109239725A (zh) * 2018-08-20 2019-01-18 广州极飞科技有限公司 基于激光测距装置的地图测绘方法及终端

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4868657A (en) * 1986-12-05 1989-09-19 Gec-Marconi Limited System for image production by variable scanning
JPH07218633A (ja) * 1993-12-08 1995-08-18 Nikon Corp 距離測定装置
US20140321605A1 (en) * 2013-04-25 2014-10-30 Moshe Ein-Gal Cone beam ct scanning
CN204366037U (zh) * 2014-12-13 2015-06-03 广东汉唐量子光电科技有限公司 一种用于3d打印扫描的控制装置
CN107367737A (zh) * 2016-05-13 2017-11-21 北醒（北京）光子科技有限公司 一种多线旋转扫描探测方法
WO2021226764A1 (zh) * 2020-05-09 2021-11-18 深圳市大疆创新科技有限公司 测距装置、测距方法及可移动平台

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
李佳俊;钟若飞;: "轻小型机载LiDAR的航线设计", 国土资源遥感, no. 02, pages 98 - 103 *
顾伟舟: "数字化电视原理与技术", vol. 978, 30 April 2011, 西安电子科技大学出版社, pages: 39 - 45 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023184060A1 (zh) * 2022-03-28 2023-10-05 深圳市大疆创新科技有限公司 探测装置和可移动平台
WO2023240619A1 (zh) * 2022-06-14 2023-12-21 探维科技(北京)有限公司 测量距离的方法及激光雷达
CN115754981A (zh) * 2022-10-31 2023-03-07 深圳市速腾聚创科技有限公司 基于振镜的激光控制方法、标定方法、装置和激光雷达

Also Published As

Publication number Publication date
WO2021226764A1 (zh) 2021-11-18

Similar Documents

Publication Publication Date Title
CN113924505A (zh) 测距装置、测距方法及可移动平台
US12013464B2 (en) Environment sensing system and movable platform
CN108427123B (zh) Lidar装置和用于操作lidar装置的方法
US8457813B2 (en) Measuring of a landing platform of a ship
CN210038146U (zh) 测距模组、测距装置及可移动平台
CN111712828A (zh) 物体检测方法、电子设备和可移动平台
US20210333401A1 (en) Distance measuring device, point cloud data application method, sensing system, and movable platform
CN111699442B (zh) 时间测量的校正方法及装置
CN111868551A (zh) 测距装置及其扫描机构、控制方法、可移动平台
CN111566510A (zh) 测距装置及其扫描视场的均衡方法、移动平台
CN111587381A (zh) 调整扫描元件运动速度的方法及测距装置、移动平台
CN114585879A (zh) 位姿估计的方法和装置
CN111902730A (zh) 一种标定板、深度参数标定方法、探测装置及标定系统
CN111542766A (zh) 一种测距系统及移动平台
CN210199305U (zh) 一种扫描模组、测距装置及可移动平台
CN111771140A (zh) 一种探测装置外参数标定方法、数据处理装置和探测系统
CN111263898A (zh) 一种光束扫描系统、距离探测装置及电子设备
US20220082665A1 (en) Ranging apparatus and method for controlling scanning field of view thereof
US20210341580A1 (en) Ranging device and mobile platform
CN112654893A (zh) 扫描模块的电机转速控制方法、装置和测距装置
CN116529630A (zh) 探测方法、装置、可移动平台及存储介质
WO2020142909A1 (zh) 数据同步方法、分布式雷达系统及可移动平台
CN114080545A (zh) 数据处理方法、装置、激光雷达和存储介质
CN116648634A (zh) 测距方法、测距装置、系统及计算机可读存储介质
CN111587383A (zh) 应用于测距装置的反射率校正方法、测距装置

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