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CN112219135A - 一种测距装置、测距方法以及移动平台 - Google Patents

一种测距装置、测距方法以及移动平台 Download PDF

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Publication number
CN112219135A
CN112219135A CN201980005221.9A CN201980005221A CN112219135A CN 112219135 A CN112219135 A CN 112219135A CN 201980005221 A CN201980005221 A CN 201980005221A CN 112219135 A CN112219135 A CN 112219135A
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China
Prior art keywords
threshold
adopted
comparison threshold
distance measuring
comparison
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Pending
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CN201980005221.9A
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English (en)
Inventor
刘祥
董帅
洪小平
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SZ DJI Technology Co Ltd
SZ DJI Innovations Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN112219135A publication Critical patent/CN112219135A/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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters 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
    • 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
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

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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

一种测距装置、测距方法以及移动平台。所述测距装置，包括：探测通道和阈值确定模块；所述阈值确定模块用于根据阈值影响因素确定待采用的比较阈值；所述探测通道用于接收经物体反射的光脉冲信号，将所述光脉冲信号转换为电信号，将所述电信号与所述待采用的比较阈值进行比较，获取所述电信号所触发的所述待采用的比较阈值的时间信息，以及根据所述时间信息确定所述物体与所述测距装置的距离。通过动态的调整阈值/选择阈值，可以提高系统的量程，减小FOV内部不同位置的量程差异性，减小多线激光雷达不同线之间的量程差异，针对多线激光雷达任意一线进行优化，提高量程。

Description

PCT国内申请，说明书已公开。

Claims (50)

  1. PCT国内申请，权利要求书已公开。
CN201980005221.9A 2019-02-20 2019-02-20 一种测距装置、测距方法以及移动平台 Pending CN112219135A (zh)

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CN115932782A (zh) * 2022-11-29 2023-04-07 深圳市速腾聚创科技有限公司 激光雷达的信号处理方法、装置、存储介质及电子设备
WO2023133964A1 (zh) * 2022-01-13 2023-07-20 杭州宏景智驾科技有限公司 激光雷达系统及其环境光去噪方法
WO2024001224A1 (zh) * 2022-07-01 2024-01-04 上海禾赛科技有限公司 基于动态阈值的回波信号检测方法、系统和激光雷达

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WO2022139783A1 (en) * 2020-12-21 2022-06-30 Intel Corporation High end imaging radar
CN112782709B (zh) * 2020-12-28 2022-09-27 杭州电子科技大学 一种基于动态多阈值误差修正的激光测距方法
CN113885034B (zh) * 2021-09-28 2025-01-14 广东电网有限责任公司 一种配电架空线异物监测装置、方法及存储介质
CN114594455B (zh) * 2022-01-13 2022-11-18 杭州宏景智驾科技有限公司 激光雷达系统及其控制方法
CN114594493B (zh) * 2022-01-13 2023-03-21 杭州宏景智驾科技有限公司 激光雷达系统及其环境光感知方法

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WO2024001224A1 (zh) * 2022-07-01 2024-01-04 上海禾赛科技有限公司 基于动态阈值的回波信号检测方法、系统和激光雷达
CN115932782A (zh) * 2022-11-29 2023-04-07 深圳市速腾聚创科技有限公司 激光雷达的信号处理方法、装置、存储介质及电子设备

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