CN114096870A - 用于激光雷达的接收***、激光雷达和抑制鬼线的方法 - Google Patents
用于激光雷达的接收***、激光雷达和抑制鬼线的方法 Download PDFInfo
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- CN114096870A CN114096870A CN201980097646.7A CN201980097646A CN114096870A CN 114096870 A CN114096870 A CN 114096870A CN 201980097646 A CN201980097646 A CN 201980097646A CN 114096870 A CN114096870 A CN 114096870A
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- 238000000034 method Methods 0.000 title claims description 13
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
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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
提供了一种可用于激光雷达的接收***(40),包括:接收透镜(41),接收透镜(41)配置成可从外部接收光束;反射镜结构,设置在接收透镜(41)的光路下游,接收来自接收透镜(41)的光束并通过反射改变所述光束的传播方向;探测器(43),设置在反射镜结构的下游,以接收来自所述反射镜的光束;和鬼线消除装置,设置在所述反射镜结构和探测器(43)之间,以阻挡会在激光雷达的点云中造成鬼线的光束入射到所述探测器(43)。激光雷达接收***(40)通过使用鬼线消除装置,例如特定的光阑(44)和/或隔光片(74),解决了近距离高反射率障碍物在激光雷达点云中产生鬼线,带来的激光雷达误识别的问题,提高了激光雷达的探测准确度。
Description
PCT国内申请,说明书已公开。
Claims (12)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
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PCT/CN2019/103724 WO2021035689A1 (zh) | 2019-08-30 | 2019-08-30 | 用于激光雷达的接收***、激光雷达和抑制鬼线的方法 |
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CN114096870A true CN114096870A (zh) | 2022-02-25 |
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CN201980097646.7A Pending CN114096870A (zh) | 2019-08-30 | 2019-08-30 | 用于激光雷达的接收***、激光雷达和抑制鬼线的方法 |
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US (1) | US20220120869A1 (zh) |
CN (1) | CN114096870A (zh) |
WO (1) | WO2021035689A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN116243277A (zh) * | 2021-03-29 | 2023-06-09 | 华为技术有限公司 | 一种激光发射方法、装置、探测装置及移动平台 |
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007333592A (ja) * | 2006-06-15 | 2007-12-27 | Denso Corp | 距離測定装置 |
CN101963869B (zh) * | 2009-07-24 | 2012-12-19 | 一品光学工业股份有限公司 | 微机电扫描的坐标侦测方法及其触控荧幕 |
CN103018735B (zh) * | 2012-12-13 | 2014-10-15 | 中国科学院上海光学精密机械研究所 | 合成孔径激光成像雷达大视场外差探测装置 |
CN103954955A (zh) * | 2014-04-25 | 2014-07-30 | 南京先进激光技术研究院 | 合成孔径激光成像雷达收发同轴光学天线 |
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*** |
CN208421218U (zh) * | 2018-06-08 | 2019-01-22 | 上海禾赛光电科技有限公司 | 一种用于激光雷达的接收*** |
CN109814082B (zh) * | 2019-01-21 | 2021-10-22 | 上海禾赛科技有限公司 | 光接收模块、及激光雷达*** |
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2019
- 2019-08-30 WO PCT/CN2019/103724 patent/WO2021035689A1/zh active Application Filing
- 2019-08-30 CN CN201980097646.7A patent/CN114096870A/zh active Pending
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2021
- 2021-12-28 US US17/563,305 patent/US20220120869A1/en active Pending
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WO2021035689A1 (zh) | 2021-03-04 |
US20220120869A1 (en) | 2022-04-21 |
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