# US 2021/0239801 A1 · Laser-ranging device and mobile apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0239801 A1 - Document ID: US20210239801A1 - Status: Published application - Kind: A1 - Application number: 17/214,777 - Filed: 2021-03-26 - Published: 2021-08-05 - Earliest claimed: 2018-09-28 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Xiang LIU; Huai HUANG; Xiaoping HONG - Web page: https://patentgrep.com/patent/US20210239801A1 ## CPC - G01S 7/4812: {transmitted and received beams following a coaxial path} - G01S 7/4817: {relating to scanning} - G01C 3/00: Measuring distances in line of sight; Optical rangefinders (tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48) - G01S 7/4811: {common to transmitter and receiver} - G01S 7/4814: {of transmitters alone} - G01S 7/4816: {of receivers alone} - G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) - G01S 17/93: for anti-collision purposes - 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 - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A laser-ranging device includes an emitter, an optical assembly, a detecter, and a drive system. The emitter is configured to emit a laser pulse sequence. The an optical assembly includes a collimating lens and a converging lens. The collimating lens is configured to collimate the laser pulse sequence emitted by the emitter and emit the laser pulse sequence. The converging lens is configured to converge at least a part of return light reflected by a to-be-detected object. The detecter is configured to receive light converged by the converging lens, convert the light into an electrical signal, and determine a distance between the to-be-detected object and the laser-ranging device according to the electrical signal. The drive system is configured to drive the optical assembly to move in a plane perpendicular to an optical axis of the laser pulse sequence and/or along an optical axis direction of the optical axis. ## Claims ### Claim 1 A laser-ranging device comprising: an emitter configured to emit a laser pulse sequence; an optical assembly including: a collimating lens located on an emitting light path of the emitter and configured to collimate the laser pulse sequence emitted by the emitter and emit the laser pulse sequence out of the laser-ranging device; and a converging lens configured to converge at least a part of return light reflected by a to-be-detected object; a detecter configured to receive light converged by the converging lens and convert the light into an electrical signal and determine a distance between the to-be-detected object and the laser-ranging device according to the electrical signal; and a drive system configured to drive the optical assembly to move in a plane perpendicular to an optical axis of the laser pulse sequence and/or along an optical axis direction of the optical axis. ### Claim 2 (depends on 1) The laser-ranging device of claim 1, wherein the collimating lens and the converging lens are fixed together and are driven by the drive system to move simultaneously. ### Claim 3 (depends on 1) The laser-ranging device of claim 1, wherein the collimating lens and the converging lens are a same lens; the device further comprising: an optical path change element located on a side of the optical assembly close to the emitter and configured to combine the emitting optical path of the emitter and a reception optical path of the detecter. ### Claim 4 (depends on 1) The laser-ranging device of claim 1, wherein the drive system is configured to drive the optical assembly in the plane perpendicular to the optical axis to change a detection direction of the laser-ranging device. ### Claim 5 (depends on 4) The laser-ranging device of claim 4, wherein: the drive system is configured to control a movement distance of the optical assembly in the plane perpendicular to the optical axis according to a target detection direction. ### Claim 6 (depends on 1) The laser-ranging device of claim 1, wherein the drive system is configured to drive the optical assembly to move back and forth along the optical axis to change a field of view (FOV) of the laser-ranging device. ### Claim 7 (depends on 6) The laser-ranging device of claim 6, wherein: the drive system is configured to control a movement distance of the optical assembly along the optical axis direction according to a target FOV. ### Claim 8 (depends on 6) The laser-ranging device of claim 6, wherein: the drive system drives the optical assembly to move back and forth along the optical axis to change a divergence angle of the laser pulse sequence to change the FOV of the laser-ranging device. ### Claim 9 (depends on 1) The laser-ranging device of claim 1, further comprising: a mobile assembly; wherein the drive system is configured to drive the mobile assembly to drive the optical assembly to move in the plane perpendicular to the optical axis and/or along the optical axis. ### Claim 10 (depends on 9) The laser-ranging device of claim 9, wherein: the drive system is configured to drive the mobile assembly to move to drive the optical assembly to move in the plane perpendicular to the optical axis. ### Claim 11 (depends on 9) The laser-ranging device of claim 9, wherein: the drive system is configured to drive the mobile assembly to move to drive the optical assembly to move along the optical axis. ### Claim 12 (depends on 1) The laser-ranging device of claim 1, further comprising: a light filter configured to perform light filtering on the return light before the return light reaches the converging lens, to filter out at least a part of light with a non-operation wavelength. ### Claim 13 (depends on 12) The laser-ranging device of claim 12, wherein the light filter is located on a side of the converging lens facing away from the detecter. ### Claim 14 (depends on 1) The laser-ranging device of claim 1, wherein the drive system includes an electromagnetic driver, a voice coil driver, or a piezoelectric ceramic driver. ### Claim 15 (depends on 1) The laser-ranging device of claim 1, further comprising: a base carrying the emitter; and a mobile assembly carrying the optical assembly; wherein the drive system includes an electromagnetic driver including: a magnetic assembly arranged at the mobile assembly; and an electromagnet arranged at the base and configured to be applied with an alternating current to cause the mobile assembly to vibrate. ### Claim 16 (depends on 15) The laser-ranging device of claim 15, wherein the magnetic assembly includes a permanent magnet arranged at the mobile assembly. ### Claim 17 (depends on 15) The laser-ranging device of claim 15, further comprising: an elastic body arranged between the mobile assembly and the base; wherein the electromagnet is configured to have a drive frequency approximately equaling a natural frequency of the elastic body. ### Claim 18 (depends on 1) The laser-ranging device of claim 1, further comprising: a base, the emitter being arranged at the base. ### Claim 19 (depends on 1) The laser-ranging device of claim 1, wherein the detecter includes: a receiver configured to receive the return light and convert the return light into the electrical signal; a sampling circuit configured to perform sampling on the electrical signal output by the receiver to measure a time difference between emission of the laser pulse sequence and reception of the return light; and a computation circuit configured to perform calculation based on the time difference to obtain a ranging result. ### Claim 20 A mobile apparatus comprising: a focus adjustable imaging system configured to determine direction information of a target object relative to the imaging system according to a position of the target object in an image captured by the imaging system; and a laser-ranging device configured to adjust a detection direction of the laser-ranging device according to the direction information and detect a distance between the target object and the laser-ranging device, the laser-ranging device including: an emitter configured to emit a laser pulse sequence; an optical assembly including: a collimating lens located on an emitting light path of the emitter and configured to collimate the laser pulse sequence emitted by the emitter and emit the laser pulse sequence out of the laser-ranging device; and a converging lens configured to converge at least a part of return light reflected by the target object; a detecter configured to receive light converged by the converging lens and convert the light into an electrical signal and determine the distance between the target object and the laser-ranging device according to the electrical signal; and a drive system configured to drive the optical assembly to move in a plane perpendicular to an optical axis of the laser pulse sequence and/or along an optical axis direction; wherein the imaging system is further configured to perform focus adjustment according to the distance obtained by the laser-ranging device.