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CN111587381A - 调整扫描元件运动速度的方法及测距装置、移动平台 - Google Patents

调整扫描元件运动速度的方法及测距装置、移动平台 Download PDF

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Publication number
CN111587381A
CN111587381A CN201880068601.2A CN201880068601A CN111587381A CN 111587381 A CN111587381 A CN 111587381A CN 201880068601 A CN201880068601 A CN 201880068601A CN 111587381 A CN111587381 A CN 111587381A
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interval
scene
scanning
scanned
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董帅
张富
洪小平
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN111587381A publication Critical patent/CN111587381A/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
    • 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
    • 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

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

Abstract

本发明提供一种调整扫描元件运动速度的方法及测距装置、移动平台，测距装置包括：发射模块、扫描模块、选择模块、控制模块和探测模块，扫描模块用于将发射模块发射的光脉冲序列的传播路径依次改变至不同方向出射形成一个扫描视场，扫描元件的至少两个积分时间分别对应扫描元件的至少一组运动速度，在同一积分时间下扫描元件以与该积分时间对应的运动速度运动时的扫描均匀度高于以其他组的运动速度运动时的扫描均匀度；选择模块用于选择至少两个积分时间中的一个积分时间；控制模块用于根据选择的积分时间控制扫描元件的运动速度调整至与所选择的积分时间对应的运动速度。本发明的方案能够使得不同的积分时间下点云均匀性和视场覆盖率均较好。

Description

PCT国内申请，说明书已公开。

Claims (46)

  1. PCT国内申请，权利要求书已公开。
CN201880068601.2A 2018-12-17 2018-12-17 调整扫描元件运动速度的方法及测距装置、移动平台 Pending CN111587381A (zh)

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PCT/CN2018/121533 WO2020124318A1 (zh) 2018-12-17 2018-12-17 调整扫描元件运动速度的方法及测距装置、移动平台

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WO (1) WO2020124318A1 (zh)

Cited By (2)

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CN112462086A (zh) * 2020-10-23 2021-03-09 宁波傲视智绘光电科技有限公司 一种测速方法、装置及可读存储介质
WO2022252035A1 (zh) * 2021-05-31 2022-12-08 深圳市大疆创新科技有限公司 一种探测装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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CN114503007B (zh) * 2020-08-25 2024-05-14 深圳市大疆创新科技有限公司 激光扫描装置和激光扫描系统
WO2022226984A1 (zh) * 2021-04-30 2022-11-03 深圳市大疆创新科技有限公司 扫描视场的控制方法、测距装置和可移动平台

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CN103033806A (zh) * 2012-12-27 2013-04-10 山东理工大学 一种用于机载激光扫描飞行高度变化实时补偿的方法与装置
WO2018055513A2 (en) * 2016-09-20 2018-03-29 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for light detection and ranging based scanning
CN108508430A (zh) * 2018-04-03 2018-09-07 中国人民解放军国防科技大学 用于目标检测的激光雷达转动控制方法
US20180284278A1 (en) * 2017-03-28 2018-10-04 Luminar Technologies, Inc. Adaptive pulse rate in a lidar system
US20180284276A1 (en) * 2017-03-29 2018-10-04 Luminar Technologies, Inc. Dynamically Scanning a Field of Regard Using a Limited Number of Output Beams
US20180313941A1 (en) * 2017-04-28 2018-11-01 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system

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CN1110398A (zh) * 1993-12-27 1995-10-18 现代电子产业株式会社 光学测距装置及其方法
US10012734B2 (en) * 2014-05-21 2018-07-03 DSCG Solutions, Inc. Devices, systems, and methods for real time tracking of an object
CN108226865A (zh) * 2016-12-22 2018-06-29 上海乐相科技有限公司 一种采用激光扫描的目标定位方法及装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103033806A (zh) * 2012-12-27 2013-04-10 山东理工大学 一种用于机载激光扫描飞行高度变化实时补偿的方法与装置
WO2018055513A2 (en) * 2016-09-20 2018-03-29 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for light detection and ranging based scanning
US20180284278A1 (en) * 2017-03-28 2018-10-04 Luminar Technologies, Inc. Adaptive pulse rate in a lidar system
US20180284276A1 (en) * 2017-03-29 2018-10-04 Luminar Technologies, Inc. Dynamically Scanning a Field of Regard Using a Limited Number of Output Beams
US20180313941A1 (en) * 2017-04-28 2018-11-01 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system
CN108508430A (zh) * 2018-04-03 2018-09-07 中国人民解放军国防科技大学 用于目标检测的激光雷达转动控制方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112462086A (zh) * 2020-10-23 2021-03-09 宁波傲视智绘光电科技有限公司 一种测速方法、装置及可读存储介质
WO2022252035A1 (zh) * 2021-05-31 2022-12-08 深圳市大疆创新科技有限公司 一种探测装置

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Application publication date: 20200825