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

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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
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China
Prior art keywords
optical element
scanning
scanning module
optical
specified
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Pending
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CN202080038977.6A
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English (en)
Inventor
杨阳
陈亚林
梅雄泽
黄淮
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN113924505A publication Critical patent/CN113924505A/zh
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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
    • 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

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  • 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)

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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

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Cited By (2)

* 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

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117677866A (zh) * 2022-03-28 2024-03-08 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

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
JPH07218633A (ja) * 1993-12-08 1995-08-18 Nikon Corp 距離測定装置
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
EP3155369B1 (en) * 2015-06-26 2020-03-18 SZ DJI Technology Co., Ltd. System and method for measuring a displacement of a mobile platform
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
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

Cited By (2)

* 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

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