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CN111670375A - 一种测距装置及移动平台 - Google Patents

一种测距装置及移动平台 Download PDF

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Publication number
CN111670375A
CN111670375A CN201980005646.XA CN201980005646A CN111670375A CN 111670375 A CN111670375 A CN 111670375A CN 201980005646 A CN201980005646 A CN 201980005646A CN 111670375 A CN111670375 A CN 111670375A
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CN
China
Prior art keywords
light
optical
detector
ranging apparatus
optical element
Prior art date
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Pending
Application number
CN201980005646.XA
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English (en)
Inventor
董帅
王栗
梅雄泽
陈涵
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
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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 CN111670375A publication Critical patent/CN111670375A/zh
Pending legal-status Critical Current

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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
    • G01S7/48—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
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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

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  • 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

提供一种测距装置及移动平台，测距装置包括发射器(203)和探测器(205)，发射器(203)用于发射光脉冲序列；探测器(205)用于接收经物体反射的回光的至少部分并转换为电信号，以及根据电信号确定物体与测距装置的距离和/或方位；其中，在光脉冲序列的发射光路和回光的接收光路之外的至少部分非工作面上设置有减反射材料和/或设置有具有预设倾斜角度的反射面，以反射杂散光至探测器之外，其中，非工作面为光脉冲序列和回光没有经过的面。通过在非工作面上设置减反射材料和/或设置具有预设倾斜角度的反射面，减少或消除串扰噪声，提高测距装置的性能。

Description

PCT国内申请，说明书已公开。

Claims (23)

  1. PCT国内申请，权利要求书已公开。
CN201980005646.XA 2019-01-09 2019-01-09 一种测距装置及移动平台 Pending CN111670375A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/070955 WO2020142919A1 (zh) 2019-01-09 2019-01-09 一种测距装置及移动平台

Publications (1)

Publication Number Publication Date
CN111670375A true CN111670375A (zh) 2020-09-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980005646.XA Pending CN111670375A (zh) 2019-01-09 2019-01-09 一种测距装置及移动平台

Country Status (3)

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US (1) US20210333374A1 (zh)
CN (1) CN111670375A (zh)
WO (1) WO2020142919A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114152194A (zh) * 2021-11-16 2022-03-08 华中科技大学 一种基于反射光栅的微位移测量装置及方法
CN116559831A (zh) * 2023-04-23 2023-08-08 浙江大华技术股份有限公司 一种消除反射镜杂光的激光雷达及设备

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115267727B (zh) * 2021-04-30 2025-09-19 上海禾赛科技有限公司 光探测装置及行驶载具
CN115410439B (zh) * 2022-08-30 2025-08-29 万灵帮桥医疗器械(广州)有限责任公司 模拟眼装置和生物测量仪
CN116449342A (zh) * 2023-05-06 2023-07-18 广州导远电子科技有限公司 一种同轴激光雷达光路及激光雷达

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CN87210363U (zh) * 1987-07-25 1988-09-28 北京大学 新型光束偏转器
US20080316562A1 (en) * 2005-12-15 2008-12-25 Koninklijke Philips Electronics, N.V. Mems Scanner System and Method
CN104330843A (zh) * 2014-07-22 2015-02-04 凯迈（洛阳）环测有限公司 一种激光测云仪光学系统及其分光反射镜
DE102015112295A1 (de) * 2015-07-28 2017-02-02 Valeo Schalter Und Sensoren Gmbh Sendeeinrichtung für eine optische Detektionsvorrichtung eines Kraftfahrzeugs, optische Detektionsvorrichtung, Kraftfahrzeug sowie Verfahren
CN106911068A (zh) * 2017-02-24 2017-06-30 成都光创联科技有限公司 消除影响激光器稳定工作杂散光束的方法
CN107561716A (zh) * 2017-08-30 2018-01-09 南京理工大学 一种环形复合透镜小型化激光收发共孔径装置
CN108594263A (zh) * 2018-01-30 2018-09-28 北醒（北京）光子科技有限公司 一种激光雷达及无人驾驶系统
US20180284282A1 (en) * 2017-03-29 2018-10-04 SZ DJI Technology Co., Ltd. Lidar sensor system with small form factor
CN109116322A (zh) * 2018-08-30 2019-01-01 挚感(苏州)光子科技有限公司 一种位移和距离激光雷达系统的回光消除方法

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JP2001183444A (ja) * 1999-12-27 2001-07-06 Minolta Co Ltd 測距装置
JP6672715B2 (ja) * 2015-11-05 2020-03-25 船井電機株式会社 測定装置
CN206411260U (zh) * 2016-10-28 2017-08-15 深圳市镭神智能系统有限公司 一种基于时间飞行法的激光雷达系统
CN207114760U (zh) * 2017-08-21 2018-03-16 北京因泰立科技有限公司 一种收发一体式扫描激光测距雷达

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN87210363U (zh) * 1987-07-25 1988-09-28 北京大学 新型光束偏转器
US20080316562A1 (en) * 2005-12-15 2008-12-25 Koninklijke Philips Electronics, N.V. Mems Scanner System and Method
CN104330843A (zh) * 2014-07-22 2015-02-04 凯迈（洛阳）环测有限公司 一种激光测云仪光学系统及其分光反射镜
DE102015112295A1 (de) * 2015-07-28 2017-02-02 Valeo Schalter Und Sensoren Gmbh Sendeeinrichtung für eine optische Detektionsvorrichtung eines Kraftfahrzeugs, optische Detektionsvorrichtung, Kraftfahrzeug sowie Verfahren
CN106911068A (zh) * 2017-02-24 2017-06-30 成都光创联科技有限公司 消除影响激光器稳定工作杂散光束的方法
US20180284282A1 (en) * 2017-03-29 2018-10-04 SZ DJI Technology Co., Ltd. Lidar sensor system with small form factor
CN107561716A (zh) * 2017-08-30 2018-01-09 南京理工大学 一种环形复合透镜小型化激光收发共孔径装置
CN108594263A (zh) * 2018-01-30 2018-09-28 北醒（北京）光子科技有限公司 一种激光雷达及无人驾驶系统
CN109116322A (zh) * 2018-08-30 2019-01-01 挚感(苏州)光子科技有限公司 一种位移和距离激光雷达系统的回光消除方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114152194A (zh) * 2021-11-16 2022-03-08 华中科技大学 一种基于反射光栅的微位移测量装置及方法
CN114152194B (zh) * 2021-11-16 2022-10-04 华中科技大学 一种基于反射光栅的微位移测量装置及方法
CN116559831A (zh) * 2023-04-23 2023-08-08 浙江大华技术股份有限公司 一种消除反射镜杂光的激光雷达及设备

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US20210333374A1 (en) 2021-10-28

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