CN205982639U - Scanning device and unmanned driving device - Google Patents
Scanning device and unmanned driving device Download PDFInfo
- Publication number
- CN205982639U CN205982639U CN201620948975.1U CN201620948975U CN205982639U CN 205982639 U CN205982639 U CN 205982639U CN 201620948975 U CN201620948975 U CN 201620948975U CN 205982639 U CN205982639 U CN 205982639U
- Authority
- CN
- China
- Prior art keywords
- light
- scanning means
- module
- light source
- source module
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model provides a scanning device and unmanned driving device, includes optical structure and drive structure. Optical structure includes light source module, light adjustment module and light sensing module. The light source module is used for the transmission to survey light. The light adjustment module sets up in the light -emitting light path of light source module. The light adjustment module is used for the increase survey and be bare the diffusion angle on a A predetermined direction and keep it is in to survey light diffusion angle in A predetermined direction's the vertical direction is unchangeable. The light sensing module is used for the sensing survey light by the partial light of target object reflection. The drive structure is used for the drive optical structure is in light source module light -emitting direction with the planar parallel face internal rotation in A predetermined direction place.
Description
Technical field
This utility model is related to avoidance technical field, more particularly, to a kind of scanning means and have the unmanned of this scanning means
Steer.
Background technology
Unmanned equipment has a wide range of applications in a lot of fields, and the flight safety of therefore unmanned equipment is subject to very
Many concerns.In order to improve the safety of flight, unmanned equipment can independently detect target object the function of being hidden
Particularly significant.Laser radar is as a kind of reliable, stable, is capable of the sensor of all weather operations, is for one of avoidance very
Good selection.
3D laser radar generally comprises the scanning of two vertical direction.Wherein on a direction, driven using motor and swash
Light beam rotation sweep in the range of 360 degree.In vertical direction, a kind of method is using on multiple laser directive differing heights angle
Target object.Although this method precision is higher, but need, simultaneously using multiple laser instrument, to increased cost and work(
Consumption.Another kind of method is to control laser beam using swing steering engine in elevation angle scanning direction, but the frame for movement of the method
Complex, it is also limited by swing steering engine, be extremely difficult to higher rate of scanning.
Utility model content
In view of this it is necessary to providing a kind of scanning means solving the above problems and there is nobody of this optical texture driving
Sail equipment.
A kind of scanning means, including
Optical texture, including light source module, light adjustment module and light sensing module, described light source module is used for emission detection
Light, what described light adjusted that module is arranged on described light source module goes out in light light path, and described light adjustment module is used for increasing described spy
Light-metering in the angle of flare on a predetermined direction and keeps described detection angle of flare in the vertical direction of described predetermined direction for the light
Constant, described light sensing module is used for sensing some light that described detection light is reflected by target object；And
Driving structure, for driving described optical texture to be located with described predetermined direction in described light source module light direction
Rotation in the parallel surface of plane.
Further, described light source module includes at least one light-emitting component, and described light sensing module includes multiple photosensitive
Element, the quantity of described photo-sensitive cell is more than the quantity of described light-emitting component.
Further, described light-emitting component includes following at least one：Laser instrument, laser diode or light emitting diode.
Further, described light-emitting component includes unidirectional laser emitting elements.
Further, described light-emitting component includes semiconductor laser diode, and described semiconductor laser diode is with 1000
Hertz or 3600 hertz frequency transmitting laser.
Further, described light-emitting component is infra-red laser diode.
Further, described sensing element includes photodiode.
Further, the sensing angle on described predetermined direction of single described photo-sensitive cell is less than described detection light warp
Angle of flare after increase.
Further, the sensing range of each photo-sensitive cell of described light sensing module is not overlapping.
Further, described light adjustment module includes cylindrical concave lens, and it is flat that described cylindrical concave lens includes being disposed opposite to each other
Surface side and concave side, the planar side of described cylindrical concave lens is arranged to described light source module.
Further, the concave side of described cylindrical concave lens includes the infinitely-great first direction of radius of curvature, and described first
Direction is perpendicular to described predetermined direction.
Further, the concave side of described cylindrical concave lens also includes the second direction vertical with described first direction, institute
State concave side radius of curvature in this second direction and be 100 millimeters.
Further, described light adjustment module also includes being arranged between described cylindrical concave lens and described light source module
Planoconvex lenss.
Further, described planoconvex lenss include the planar side being disposed opposite to each other and convex side, the plane of described planoconvex lenss
Side is arranged to described light source module.
Further, described light adjusts module and detects light angle of flare in a predetermined direction by what described light source module sent
Increase to more than 30 degree.
Further, described light adjusts module and detects expansion on described predetermined direction for the light by what described light source module sent
Scattered angle increases at least 30 times.
Further, described light adjusts module and detects expansion on described predetermined direction for the light by what described light source module sent
Scattered angle increases to 33 degree, and keeps what described light source module sent to detect diffusion in the vertical direction of described predetermined direction for the light
Angle is 2 degree.
Further, described driving structure includes driver, described driver order about described scanning means with per second 10 to
20 turns of rotational speed.
Further, described driving structure also includes angular transducer, in order to feed back the Angle Position of described scanning means.
Further, described scanning means includes a microscope carrier, and described optical texture is arranged on described microscope carrier, described drive
Dynamic structure is connected with described microscope carrier, orders about described microscope carrier and rotates, thus driving described optical texture to rotate, described predetermined direction hangs down
Directly in described microscope carrier.
Further, described scanning means also includes module of finding range, for detecting target object in described scanning means
When measure the distance of target object and scanning means.
Further, described range finding module passes through to calculate light transmitting and the time difference reflecting or phase contrast, and to convert mesh
Mark object and the distance of described scanning means.
A kind of unmanned equipment, including head and above-mentioned scanning means, described scanning means is arranged on described head.
Further, described unmanned equipment also includes controller,
Described controller is used for responding the scanning result of described scanning means, when described scanning means scans target object
When control described unmanned equipment to avoid described target object.
Further, the situation transmission control of the described controller described scanning means detecting objects body of response is described unmanned
The control instruction of the motion of steer, described unmanned equipment also includes multiple propellers, and described propeller is used for basis
The control instruction that described controller is sent controls the motion of described unmanned equipment.
Further, described propeller includes motor and propeller.
Further, described propeller is four.
Further, described unmanned equipment also includes wireless transmitter, sends out from a remote controller for receiving
The scan instruction penetrated.
Further, described unmanned equipment includes：Unmanned vehicle, unmanned vehicle, unmanned ship or robot.
The scanning means providing with respect to prior art, this utility model and unmanned equipment, using described optics knot
What the light of structure adjusted that module increases that described light source module sends detect light predetermined direction angle of flare so that described scanning means
There are larger sweep limitss in a predetermined direction, drive described optical texture to horizontally rotate by driving structure and realize predetermined direction
Vertical direction on scanning, so, neither need swing steering engine it is not required that many line lasers, you can realize three-dimensional cover, can
To substantially reduce the complexity of cost and structure.
Brief description
Fig. 1 is the schematic diagram of the scanning means that this utility model embodiment provides.
Fig. 2 is the schematic diagram of optical texture described in Fig. 1.
Fig. 3 is the schematic diagram that light described in Fig. 2 adjusts module.
Fig. 4 is the schematic perspective view of the cylindrical concave lens in Fig. 3.
Main element symbol description
| Scanning means | 10 |
| Optical texture | 11 |
| Microscope carrier | 15 |
| Driving structure | 17 |
| Light source module | 12 |
| Light adjusts module | 13 |
| Light sensing module | 14 |
| Light-emitting component | 121 |
| Convex lenss | 131 |
| Cylindrical concave lens | 133 |
| Planar side | 1311、1331 |
| Convex side | 1313 |
| Concave side | 1333 |
| Photo-sensitive cell | 141 |
Following specific embodiment will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely description is it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative work
The every other embodiment being obtained, broadly falls into the scope of this utility model protection.
It should be noted that when an assembly is considered as " connection " another assembly, it can be directly to separately
One assembly or may be simultaneously present assembly placed in the middle.When an assembly is considered as " being arranged at " another assembly, it is permissible
It is to be set directly on another assembly or may be simultaneously present assembly placed in the middle.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " include
The arbitrary and all of combination of one or more related Listed Items.
Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case of not conflicting, under
Feature in the embodiment stated and embodiment can be mutually combined.
Refer to Fig. 1 and Fig. 2, the scanning means 10 that this utility model embodiment provides includes optical texture 11, microscope carrier
15 and driving structure 17.Described optical texture 11 is arranged on described microscope carrier 15.Described driving structure 17 connects to described microscope carrier
15.In present embodiment, described optical texture 11 and described microscope carrier 15 geo-stationary.Described driving structure 17 orders about described microscope carrier
15 rotations, drive described optical texture 11 to rotate.
Described optical texture 11 includes light source module 12, and light adjusts module 13, and light sensing module 14.Described light source module
12 are used for emission detection light.Described light adjusts module 13 and is used for the light type detecting light of described light source module 12 outgoing is adjusted
Whole.Described light sensing module 14 be used for sense adjusted after detection light run into target object reflected light line.Described scanning
Device 10 is used for ground survey and/or target object detection.
Described light source module 12 includes at least one light-emitting component 121.Described light-emitting component 121 can be selected for following at least one
Kind：Laser instrument, laser diode or light emitting diode etc..In present embodiment, described light-emitting component 121 is unidirectional Laser emission
Element.Specifically, described light-emitting component 121 is semiconductor laser diode.Described semiconductor laser diode is with 1000 hertz
Or 3600 hertz frequency transmitting laser.Further, described light-emitting component 121 is infra-red laser diode.
Described light adjusts module 13 and is arranged on the going out in light light path of described light source module 12.In present embodiment, described light
Adjustment module 13 is used for increasing the width of the detection light type on a predetermined direction for the light from the outgoing of described light source module 12, and protects
The detection width in the vertical direction of described predetermined direction for the light holding the outgoing of described light source module 12 is constant.That is, described light is adjusted
Mould preparation group 13 is used for increasing and detects light angle of flare in a predetermined direction from the outgoing of described light source module 12, and keeps from described
The detection angle of flare in the vertical direction of described predetermined direction for the light of light source module 12 outgoing is constant.Described light adjusts module 13
The angle of flare on described predetermined direction for the light that detects that described light source is sent increases at least 30 times.In present embodiment, described
Light adjusts module 13 and from 1 degree, the angle of flare on described predetermined direction for the light that detects that described light source module 12 sends is increased to 30
More than degree.Specifically, described light adjusts module 13 and detects light on described predetermined direction by what described light source module 12 sent
Angle of flare increases to 33 degree from 1 degree, and keeps what described light source module 12 sent to detect the Vertical Square in described predetermined direction for the light
Angle of flare upwards is 2 degree.In present embodiment, the vertical direction place plane of described predetermined direction and described predetermined direction with
The light direction of described light source module 12 is vertical.Described predetermined direction is perpendicular to described microscope carrier 15.
Refer to Fig. 3 and Fig. 4, in present embodiment, described light adjustment module 13 includes convex lenss 131 and cylindrical concave lens
133.Described convex lenss 131 are arranged between described cylindrical concave lens 133 and described light source module 12.Described light source module 12 institute
State convex lenss 131 and the optical axis coincidence of described cylindrical concave lens 133.In present embodiment, described light source module 12 is located at described
On the back focal plane of convex lenss 131.
In present embodiment, described convex lenss 131 are planoconvex lenss.Described convex lenss 131 include the plane being disposed opposite to each other
Side 1311 and convex side 1313.In present embodiment, the more described convex side 1313 of described planar side 1311 is near described light source die
Group 12.In present embodiment, the diameter of phi 1 of described convex lenss 131 is 12.7 millimeters.The curvature of described planar side 1311 is positive nothing
Big thoroughly.The radius of curvature R 1 of described convex side 1313 is 15 millimeters.
It is appreciated that in other embodiment, described convex lenss 131 also can be selected for biconvex lens.
It is appreciated that in other embodiment, described convex lenss 131 can omit.
Described cylindrical concave lens 133 is in substantially rectangular-shaped.Described cylindrical concave lens 133 includes opposite planar side 1331
And concave side 1333.The more described concave side 1333 of described planar side 1331 is near described light source module 12.In present embodiment, institute
The curvature stating planar side 1331 is positive infinity, and described concave side 1333 includes first direction and the curvature that curvature is positive infinity
Radius R2 is 100 millimeters of second direction.Described second direction is vertical with described first direction, and puts down with described predetermined direction
OK.Described concave side 1333 height Φ 2 in this second direction is 35mm.
It is appreciated that in other embodiment, the optical parametric of described convex lenss 131 and described cylindrical concave lens 133（Bag
Include size, curvature etc.）Can design according to need, be not limited with the content disclosed in present embodiment.
Referring to Fig. 1 and Fig. 2, described light sensing module 14 includes multiple photo-sensitive cells 141.Described photo-sensitive cell
141 can be selected for photodiode.In present embodiment, the quantity of described photo-sensitive cell 141 is more than the number of described light-emitting component 121
Amount.In present embodiment, the plurality of photo-sensitive cell 141 array arrangement.In present embodiment, each described photo-sensitive cell 141
Towards different directions.The sensing range of each described photo-sensitive cell 141 is not overlapping each other.Each described photo-sensitive cell
141 angles of flare after the respectively less than described detection light of the sensing angle on described predetermined direction is increased.Institute in present embodiment
State sensing angle on described predetermined direction for the photo-sensitive cell 141 and be 10 degree.
In present embodiment, described light sensing module 14 also includes being arranged on the optically focused of described photo-sensitive cell 141 incident side
Lens 142.Described detection light is reflexed to described collecting lenses 142 by described target object, and converges through described collecting lenses 142
Described photo-sensitive cell 141.Described light sensing module 14 can receive all light from target object reflection.
Described driving structure 17 includes driver and angular transducer（Not shown）.Described driver connects to described microscope carrier
15, for driving described microscope carrier 15 to rotate.Described driver can be selected for motor or motor etc..Described angular transducer is fixed on institute
State on microscope carrier 15, for feeding back the Angle Position of described scanning means 10.Described driver orders about described scanning means with per second 10
To 20 turns of rotational speed.
It is appreciated that described scanning means 10 also includes module of finding range（Not shown）.Described range finding module is arranged on microscope carrier
On 15.Described range finding module be used for when described scanning means 10 detects target object, measure described target object with described
The distance between scanning means 10.
In present embodiment, described range finding module includes signal radiated element and signal sensing element.Described signal transmitting
Element is used for, when described scanning means 10 detects target object, launching a distance measuring signal.Described distance measuring signal runs into institute
State target object and be reflected onto described signal sensing element.Described range finding module can be sent out from described signal radiated element by record
During going out signal extremely described signal sensing element receipt signal, spent duration, calculates described target object and described scanning
The distance of device.Described signal radiated element is unidirectional laser emitting elements.Described signal radiated element can be selected for quasiconductor and swashs
Optical diode or infra-red laser diode etc..Described signal receiving element can be selected for photodiode.Described range finding module also may be used
By calculating light transmitting and reflection or phase contrast, to convert target object and the distance of described scanning means.
It is appreciated that in other embodiment, described range finding module can omit, and described scanning means 10 can directly utilize institute
State the distance of the light source module 12 in optical texture 11 and light sensing module 14 measurement target object and described scanning means 10.
This utility model also provides a kind of unmanned equipment including described scanning means 10（Not shown）.Described unmanned
Steer also includes head, controller and multiple propeller.Described scanning means 10 and described controller are arranged on described cloud
On platform.The situation that described controller is used for responding described scanning means 10 detecting objects body sends and controls described unmanned set
The control instruction of standby motion.Described propeller is arranged at described head, for being referred to according to the control that described controller is sent
Order controls the motion of described unmanned equipment.Described propeller includes motor and propeller.In present embodiment, described propulsion
Device is four.Described unmanned equipment also includes wireless transmitter, for receiving the scanning from a remote controller transmitting
Instruction.
Described unmanned equipment can be unmanned vehicle, unmanned vehicle, unmanned ship or robot etc..
The scanning means providing with respect to prior art, this utility model and unmanned equipment, using described optics knot
What the light of structure adjusted that module increases that described light source module sends detect light predetermined direction angle of flare so that described scanning means
There are larger sweep limitss in a predetermined direction, drive described optical texture to horizontally rotate by driving structure and realize predetermined direction
Vertical direction on scanning, so, neither need swing steering engine it is not required that many line lasers, you can realize three-dimensional cover, can
To substantially reduce the complexity of cost and structure.
For the person of ordinary skill of the art, other can be made according to technology design of the present utility model various
Corresponding change and deformation, and all these change all should belong to this utility model scope of the claims with deforming.
Claims (29)
1. a kind of scanning means, including
Optical texture, including light source module, light adjustment module and light sensing module, described light source module is used for emission detection light,
What described light adjusted that module is arranged on described light source module goes out in light light path, and described light adjustment module is used for increasing described detection light
In the angle of flare on a predetermined direction and keep described detection angle of flare in the vertical direction of described predetermined direction for the light constant,
Described light sensing module is used for sensing some light that described detection light is reflected by target object；And
Driving structure, for driving described optical texture in described light source module light direction and described predetermined direction place plane
Parallel surface in rotation.
2. scanning means as claimed in claim 1 is it is characterised in that described light source module includes at least one light-emitting component,
Described light sensing module includes multiple photo-sensitive cells, and the quantity of described photo-sensitive cell is more than the quantity of described light-emitting component.
3. scanning means as claimed in claim 2 is it is characterised in that described light-emitting component includes following at least one：Laser
Device, laser diode or light emitting diode.
4. scanning means as claimed in claim 3 is it is characterised in that described light-emitting component includes unidirectional laser emitting elements.
5. scanning means as claimed in claim 4 is it is characterised in that described light-emitting component includes semiconductor laser diode,
Described semiconductor laser diode launches laser with 1000 hertz or 3600 hertz of frequency.
6. scanning means as claimed in claim 4 is it is characterised in that described light-emitting component is infra-red laser diode.
7. scanning means as claimed in claim 2 is it is characterised in that described sensing element includes photodiode.
8. scanning means as claimed in claim 2 it is characterised in that single described photo-sensitive cell on described predetermined direction
Sensing angle be less than described detect light increased after angle of flare.
9. scanning means as claimed in claim 2 is it is characterised in that the sensing of each photo-sensitive cell of described light sensing module
Scope is not overlapping.
10. scanning means as claimed in claim 1 is it is characterised in that described light adjustment module includes cylindrical concave lens, described
Cylindrical concave lens includes the planar side being disposed opposite to each other and concave side, and the planar side of described cylindrical concave lens is to described light source module
Setting.
11. scanning means as claimed in claim 10 are it is characterised in that the concave side of described cylindrical concave lens includes curvature half
The infinitely-great first direction in footpath, described first direction is perpendicular to described predetermined direction.
12. scanning means as claimed in claim 11 are it is characterised in that the concave side of described cylindrical concave lens also includes and institute
State the vertical second direction of first direction, described concave side radius of curvature in this second direction is 100 millimeters.
13. scanning means as claimed in claim 10 are it is characterised in that described light adjustment module also includes being arranged on described post
Planoconvex lenss between face concavees lens and described light source module.
14. scanning means as claimed in claim 13 are it is characterised in that described planoconvex lenss include the planar side being disposed opposite to each other
And convex side, the planar side of described planoconvex lenss arranges to described light source module.
15. scanning means as claimed in claim 1 are it is characterised in that described light source module is sent by described light adjustment module
Detect light angle of flare in a predetermined direction increase to more than 30 degree.
16. scanning means as claimed in claim 1 are it is characterised in that described light source module is sent by described light adjustment module
The angle of flare on described predetermined direction for the light that detects increase at least 30 times.
17. scanning means as claimed in claim 1 are it is characterised in that described light source module is sent by described light adjustment module
The angle of flare on described predetermined direction for the light that detects increase to 33 degree, and keep detection light that described light source module sends in institute
The angle of flare stated in the vertical direction of predetermined direction is 2 degree.
18. scanning means as claimed in claim 1 it is characterised in that described driving structure includes driver, described driver
Order about described scanning means with 10 to 20 turns per second of rotational speed.
19. scanning means as claimed in claim 17, it is characterised in that described driving structure also includes angular transducer, are used
To feed back the Angle Position of described scanning means.
20. scanning means as claimed in claim 1 are it is characterised in that described scanning means includes a microscope carrier, described optics
On described microscope carrier, described driving structure is connected structure setting with described microscope carrier, orders about described microscope carrier and rotates, thus driving described
Optical texture rotates, and described predetermined direction is perpendicular to described microscope carrier.
21. scanning means as claimed in claim 1 it is characterised in that described scanning means also include find range module, for
Described scanning means detects the distance measuring target object and scanning means during target object.
22. scanning means as claimed in claim 21 are it is characterised in that described range finding module is launched and anti-by calculating light
The time difference penetrated or phase contrast, to convert target object and the distance of described scanning means.
A kind of 23. unmanned equipment, including the scanning means any one of head and claim 1-22, described scanning
Device is arranged on described head.
24. as claimed in claim 23 unmanned equipment it is characterised in that described unmanned equipment also include control
Device,
Described controller is used for responding the scanning result of described scanning means, when described scanning means scans target object time control
Make described unmanned equipment and avoid described target object.
25. as claimed in claim 24 unmanned equipment it is characterised in that the described controller described scanning means of response is visited
The situation surveying target object sends the control instruction of the motion controlling described unmanned equipment, and described unmanned equipment also wraps
Include multiple propellers, described propeller is used for controlling described unmanned equipment according to the control instruction that described controller is sent
Motion.
26. as claimed in claim 25 unmanned equipment it is characterised in that described propeller includes motor and propeller.
27. as claimed in claim 25 unmanned equipment it is characterised in that described propeller be four.
28. as claimed in claim 23 unmanned equipment it is characterised in that described unmanned equipment also includes wirelessly receiving
Transmitting apparatus, for receiving the scan instruction from a remote controller transmitting.
29. as claimed in claim 23 unmanned equipment it is characterised in that described unmanned equipment includes：Unmanned winged
Row device, unmanned vehicle, unmanned ship or robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620948975.1U CN205982639U (en) | 2016-08-26 | 2016-08-26 | Scanning device and unmanned driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620948975.1U CN205982639U (en) | 2016-08-26 | 2016-08-26 | Scanning device and unmanned driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205982639U true CN205982639U (en) | 2017-02-22 |
Family
ID=58036408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620948975.1U Expired - Fee Related CN205982639U (en) | 2016-08-26 | 2016-08-26 | Scanning device and unmanned driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205982639U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| CN108776344A (en) * | 2018-05-03 | 2018-11-09 | 南京理工大学 | A kind of low cost can slant laser radar |
| CN109059881A (en) * | 2018-08-07 | 2018-12-21 | 常州华达科捷光电仪器有限公司 | A kind of Geoplane and a kind of method of angle measurement |
| WO2019205165A1 (en) * | 2018-04-28 | 2019-10-31 | SZ DJI Technology Co., Ltd. | Light detection and ranging sensors with multiple emitters and multiple receivers, and associated systems and methods |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| WO2020062110A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device, distance measuring module, distance detection device and mobile platform |
| WO2020107164A1 (en) * | 2018-11-26 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Laser diode packaging module, distance measurement apparatus, and electronic device |
| WO2020143003A1 (en) * | 2019-01-10 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| WO2020147090A1 (en) * | 2019-01-17 | 2020-07-23 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN111766607A (en) * | 2019-03-13 | 2020-10-13 | 科沃斯机器人股份有限公司 | Self-moving equipment and non-contact obstacle detection device |
-
2016
- 2016-08-26 CN CN201620948975.1U patent/CN205982639U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| US10816647B2 (en) | 2017-06-19 | 2020-10-27 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| CN108226945A (en) * | 2018-01-15 | 2018-06-29 | 上海禾赛光电科技有限公司 | Laser radar and its method of work |
| WO2019205165A1 (en) * | 2018-04-28 | 2019-10-31 | SZ DJI Technology Co., Ltd. | Light detection and ranging sensors with multiple emitters and multiple receivers, and associated systems and methods |
| CN108776344A (en) * | 2018-05-03 | 2018-11-09 | 南京理工大学 | A kind of low cost can slant laser radar |
| CN109059881A (en) * | 2018-08-07 | 2018-12-21 | 常州华达科捷光电仪器有限公司 | A kind of Geoplane and a kind of method of angle measurement |
| CN111328376A (en) * | 2018-09-28 | 2020-06-23 | 深圳市大疆创新科技有限公司 | Scanning module, range unit, range finding equipment and moving platform |
| WO2020062110A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device, distance measuring module, distance detection device and mobile platform |
| CN111837054A (en) * | 2018-09-28 | 2020-10-27 | 深圳市大疆创新科技有限公司 | Laser ranging device and mobile device |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| WO2020107164A1 (en) * | 2018-11-26 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Laser diode packaging module, distance measurement apparatus, and electronic device |
| CN111492546A (en) * | 2018-11-26 | 2020-08-04 | 深圳市大疆创新科技有限公司 | Laser diode packaging module, distance detection device and electronic equipment |
| WO2020143003A1 (en) * | 2019-01-10 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| CN111684305A (en) * | 2019-01-10 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Ranging system and mobile platform |
| WO2020147090A1 (en) * | 2019-01-17 | 2020-07-23 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN111712733A (en) * | 2019-01-17 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
| CN111766607A (en) * | 2019-03-13 | 2020-10-13 | 科沃斯机器人股份有限公司 | Self-moving equipment and non-contact obstacle detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205982639U (en) | Scanning device and unmanned driving device | |
| KR102570355B1 (en) | A lidar device and rotating poligon mirror used in the lidar device | |
| CN207318710U (en) | A kind of more harness hybrid laser radars of list laser | |
| US11808889B2 (en) | LiDAR device | |
| US10983196B2 (en) | Laser scanner and surveying system | |
| CN111263897B (en) | Distance detecting device | |
| AU2012320745B2 (en) | Method and system for positioning an apparatus for monitoring a parabolic reflector aerially | |
| CN107356930A (en) | A kind of galvanometer panoramic scanning device and its scan method | |
| CN207096455U (en) | A kind of galvanometer panoramic scanning device | |
| KR102474126B1 (en) | Lidar optical apparatus and lidar apparatus having same | |
| KR102009024B1 (en) | LiDAR scanning device using propeller driven motor of unmanned aerial vehicle and unmanned aerial vehicle comprising it | |
| CN105874349A (en) | Detection device, detection system, detection method, and removable device | |
| CN109564289A (en) | For expanding the optical texture and related system and method for the laser radar scanning range of UAV and other objects | |
| WO2020062256A1 (en) | Light beam scanning system, distance detection apparatus, and electronic device | |
| CN213843523U (en) | Unmanned aerial vehicle is patrolled and examined to well | |
| KR102317474B1 (en) | Lidar optical apparatus | |
| CN114375408A (en) | System and method for modifying a LIDAR field of view | |
| US20210124018A1 (en) | LIDAR with Field of View Extending Window | |
| KR102610855B1 (en) | Integrated fusion sensor apparatus including detachable light source with built-in intelligent camera | |
| CN112462512B (en) | Airborne laser radar scanning mirror device, system and scanning method | |
| US8830484B2 (en) | Device and method for object detection and location | |
| CN208588825U (en) | Laser radar, autonomous mobile robot and intelligent vehicle | |
| KR102471242B1 (en) | Optical apparatus for light detection and ranging | |
| KR102592158B1 (en) | LiDAR scanning system | |
| WO2022040937A1 (en) | Laser scanning device and laser scanning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |