JP2014517921A - 明るい周囲背景光下における多視野スキャナー無し光学式距離計 - Google Patents
明るい周囲背景光下における多視野スキャナー無し光学式距離計 Download PDFInfo
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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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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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
- G01S17/08—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
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01S17/93—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
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Abstract
【選択図】図1
Description
本出願は、合衆国法典第35巻119条(e)に基づき、2011年5月11日出願の米国特許出願第13/105,497号明細書を優先権主張するものであり、その明細書本文を本明細書において引用する。
本発明の例示的実施形態によるマルチFOVスキャナー無し光学式距離計10の全般的レイアウト及び主要構成要素/サブシステムは、図1の模式図を参照することにより理解が深まる。光学式距離計10は、パルスTOF原理により動作し、所定の時間及び空間特徴を有する光パルスの列を発する発光器20を含んでいる。これはまた、光帰還信号を検知し、次いで電気波形に変換するマルチチャネル受光器(略してMCOR)40を含んでいる。MCOR40の各検知チャネルは、ノイズとは顕著に異なる少なくとも1個のピークを含み得る帰還信号波形を出力する。帰還信号波形は、発光器20による各光パルスの照射後に得られるが、所与の瞬間に波形が有用な情報を担持していない場合も起こり得る。一方、帰還信号波形に存在する各ピークは、対応する検知チャネルに関連付けられた瞬間視野(IFOV)内に現在位置する物体のシグネチャである。いくつかの連続的なチャネルは、例えば、巨大な物体(例:壁)の距離が測定されたかまたは物体が測定器の近くまで入り込んだ場合に、ちょうど同じシグネチャ(パルスエコーとも称する)を含む波形を生成することができる。パルスTOF原理によれば、帰還信号波形内のシグネチャの正確な位置(タイミング)は物体への距離を表し、一方、相対振幅は発光器20の発光波長での物体の距離及び光反射率の両方に依存する。図1はまた、MCOR40の出力が、帰還信号波形の更なる処理(アナログ/デジタル変換器(ADC)80によりデジタル形式に変換された後で)及び出力データのデータインターフェース70への送信を実行する制御及び処理装置(CPU)60に接続されていることを示す。CPU60は、光パルスによる視野の照射中及び照射後におけるエコーバック信号の完全な波形トレースを保存する。トレースの取得が行われる時間は、50ns未満のパルス幅及び低いデューティサイクルで検知器から数メートル離れた物体での反射の完全な波形トレースの捕捉を可能にすべく当該パルス幅より長い。従って、上記の取得により、パルスの発光が始まった瞬間から、当該パルスの発光が終了した後、次の短い光パルスの発光の前に終了するまでの時間にわたり個々の完全な時間波形トレースを捕捉及び保存することが可能になる。更に、トレースと発せられた波形との比較を可能にすべく複数のサンプリング点を取得しなければならない。CPU60は、各光パルスを発すべく発光器20へ転送されるパルストリガ信号の生成等、他のいくつかの機能を実行する。同期トリガ信号(同相または位相がずれた)もまた、帰還信号波形の取得を開始すべくMCOR40へ送信される。CPUは、波形の取得を開始及び停止することにより取得を制御する。取得時間は、光学式距離計10がカバーする最大範囲により決定される。
発光器20は、各々の持続時間が例えば数nsの極めて短い光パルスを発し、この持続時間はMCOR40の出力側で生成される帰還信号波形に存在し得るシグネチャの幅(持続時間)の下限を設定する。信号波形内で間隔が狭い一対のシグネチャ同士を高い信頼性で識別する場合、光学式距離測定は、持続時間がなるべく短い光パルスを用いて実行しなければならない。このようなシグネチャの対が生成されるのは、例えば、2個の異なる物体が同時点で所与のIFOV内に存在し、当該物体が距離計から僅かに異なる距離にある場合である。換言すれば、より短い光パルスを用いれば、パルスTOF原理に基づいて光学式距離測定器の距離分解能が向上する。実際、光パルスで実現可能な最も短い持続時間は、発光器20内に組み込まれたドライバー電子機器及び光源の両方のインパルス応答により制限される。帰還信号波形のシグネチャは、MCOR40の全体的な検知帯域幅が充分に高く、一般に数十〜数百MHzの範囲にあれば、発せられた光パルスの忠実なレプリカである。
マルチチャネル受光器(MCOR)は検知器のアレイを有している。当該アレイは1次元でも2次元でもよい。
ADCボード80の出力側における時間系列数値データストリームの組、即ちデジタル化された帰還信号波形の組は、更なる処理のためCPU60へ転送される。CPU60の中核は、例えば組み込みアプリケーションに適していて、必要なチャネルの数で並列処理を実行可能なマイクロプロセッサーアセンブリである。CPU60はまた、FPGA(フィールドプログラマブルゲートアレイ)、DSP(デジタル信号プロセッサー)その他のプログラム可能な論理回路等、他の種類の処理手段を中心に展開することができる。数値処理の性質及び範囲は、意図されたアプリケーションに依存する。CPU60は次いで、Ethernet(登録商標)、USBまたはCANbus等の例示的なデータ通信インターフェースの下で動作するデータインターフェース70を介して光学式距離計10を組み込み可能な、より高レベルのシステムに出力データを伝送することができる。
光学式距離計10は、物体の検知及び距離測定を行う最大距離により定められた適切な時間間隔にわたり取得されたデジタル化帰還信号波形の組を出力できるため、完全な波形LIDAR(光検知及び距離測定)測定器であると考えることができる。検知されたピークが所定の閾値を超えたら直ちに電子カウンターを停止することにより物体の距離測定を行う古典的アナログ光学式距離計と比較すると、完全波形測定器は、記録されたデジタル波形に対して多くの数値処理タスクを実行可能にすることにより、より大きい柔軟性を提供する。
Claims (17)
- 50W/m2を超える太陽放射照度を伴う明るい周囲背景光下で用いるべくパルス飛行時間動作方式で動作する多視野スキャナー無し光学式距離計であって、
最小全範囲が15°×2.5°である広い照射野(FOI)を有すると共に各々の持続時間が50ns未満である極めて短い光パルスの列を発する、LED光源及びドライバー電子機器を備えた発光器と、
前記列の第1のパルスの前記発光が始まった瞬間から、前記第1のパルスの前記発光が終了した後、前記列の前記極めて短い光パルスの次のパルスの発光の前に終了するまでの時間にわたり検知される光帰還信号を検知するマルチチャネル受光器(MCOR)であって、光検知器のアレイを有するマルチチャネル受光器(MCOR)において、前記アレイの各光検知器が前記マルチチャネル受光器の検知チャネルを形成し、各光検知器が、面積が少なくとも0.5mm2且つ最大逆電流が1mA超の感光面を有し、前記各検知チャネルの瞬間視野が、前記各感光面の寸法により画定される水平及び垂直範囲を有すると共にチャネル帰還信号波形を出力すべく適合されていて、前記マルチチャネル受光器の全視野(FOV)が前記各瞬間視野をカバーし、前記照射野が前記全視野をカバーし、前記マルチチャネル受光器が、個々の完全な時間波形トレースを取得及び保存すべく各検知チャネルの時間間隔を空けた複数のサンプリング点を保存すると共に、前記チャネル帰還信号波形を調整するためのアナログフロントエンド電子機器を有し、前記MCORが、調整されたチャネル帰還信号波形を出力するマルチチャネル受光器と、
前記MCORから前記調整されたチャネル帰還信号波形を受信してデジタル形式に変換するアナログ/デジタル変換器(ADC)と、
前記発光器、前記MCOR及び前記ADCに動作可能に接続されていて、
前記発光器を起動して前記パルス列を発光させるべくパルストリガ信号を生成し、
前記光帰還信号の前記検知を開始すべく同期トリガ信号を前記MCORに送信し、
デジタル形式の前記調整されたチャネル帰還信号波形を処理する、
制御及び処理装置(CPU)と、
処理されたチャネル帰還信号波形を前記CPUから受信して出力データを用意するデータインターフェースを含み、
何れかの前記光帰還信号波形に存在するピークが、前記瞬間視野内で検知された物体のシグネチャである距離計。 - 前記LED光源が複数のLEDを含んでいる、請求項1に記載の距離計。
- 前記光パルスが、電磁スペクトルの近赤外領域及び可視領域の一方にある、請求項1〜2の何れか1項に記載の距離計。
- 前記発光器が更に、前記LED光源が発する前記光パルスを調整すべく、視準レンズアセンブリ、レンチキュラレンズシート、LED反射器、及び光拡散器のうち少なくとも1個を含んでいる、請求項1〜3の何れか1項に記載の距離計。
- 前記MCORがPINフォトダイオードのアレイを含んでいる、請求項1〜4の何れか1項に記載の距離計。
- 前記MCORが更に、少なくとも1個のレンズ素子、少なくとも1個の鏡、少なくとも1個の修正プレートの少なくとも1つを含む対物レンズを含んでいて、前記対物レンズが前記光帰還信号を前記光検知器の前記感光面に集中させる、請求項1〜5の何れか1項に記載の距離計。
- 前記アナログフロントエンド電子機器が、並列マルチチャネル及び時間多重化マルチチャネルのうち少なくとも一方である、請求項1〜6の何れか1項に記載の距離計。
- アナログ/デジタル変換器(ADC)が、互いに協働して前記調整されたチャネル帰還信号波形を受信してデジタル形式に変換すべく適合された1つ以上のコンバータ装置を含んでいる、請求項1〜7の何れか1項に記載の距離計。
- 前記MCORが、第1の方向に延在するN個の検知チャネルの線形配列、及び前記第1の方向及び直交方向の両方に延在するM×N個の検知チャネルの2次元配列の一方を含んでいて、前記直交方向が前記第1の方向に直交する、請求項1〜8の何れか1項に記載の距離計。
- 前記検知チャネルがAC結合されている、請求項1〜9の何れか1項に記載の距離計。
- 前記LEDエミッター、前記マルチチャネル受光器、前記アナログ/デジタル変換器、並びに前記制御及び処理装置が、前記LEDエミッター及び前記マルチチャネル受光器用の光透過窓を備えたエンクロージャ内に設けられていて、前記距離計が更に、前記発光器の波長帯域外に波長スペクトルを有する寄生背景光の少なくとも一部を遮断すべく前記窓上に設けられた光学フィルターを含んでいる、請求項1〜10の何れか1項に記載の距離計。
- 前記光学フィルターが、光学フィルムでコーティングされた1個の面を有する光保護窓及び波長選択的な光学透過を許す材料で作られた保護窓の一方である、請求項11に記載の距離計。
- 前記MCORが集積回路に設けられている、請求項1〜12の何れか1項に記載の距離計。
- 前記全視野が、25°×4°の全範囲を有している、請求項1〜13の何れか1項に記載の距離計。
- 前記制御及び処理装置が、前記距離計と前記検知された物体との距離を計算する距離計算機を更に含み、前記距離計算機が、前記光パルスの時間及び空間特徴の少なくとも一方を取得し、前記特徴及びデジタル形式の前記調整されたチャネル帰還信号波形を用いて前記距離を計算し、前記出力データが前記距離を含んでいる、請求項1〜14の何れか1項に記載の距離計。
- 前記制御及び処理装置が更に、前記マルチチャネル受光器の前記検知チャネルにおける前記距離及び前記マルチチャネル受光器のデジタル形式の前記調整されたチャネル帰還信号波形を用いて前記瞬間視野内の前記物体の位置を計算する位置ロケータを含み、前記出力データが前記位置を含んでいる、請求項15に記載の距離計。
- 前記物体が車両、人、動物、気体、液体、粒子、舗道、壁、柱、歩道、地表面及び木の何れか1つである、請求項1〜16の何れか1項に記載の距離計。
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US13/105,497 US8908159B2 (en) | 2011-05-11 | 2011-05-11 | Multiple-field-of-view scannerless optical rangefinder in high ambient background light |
PCT/IB2012/052365 WO2012153309A2 (en) | 2011-05-11 | 2012-05-11 | Multiple-field-of-view scannerless optical rangefinder in high ambient background light |
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Cited By (11)
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JP2016080572A (ja) * | 2014-10-20 | 2016-05-16 | 朝日航洋株式会社 | レーザ計測システム |
KR20170016105A (ko) * | 2015-08-03 | 2017-02-13 | 엘지이노텍 주식회사 | 광파 탐지 및 거리 측정 장치 |
KR20180068209A (ko) * | 2016-12-13 | 2018-06-21 | 전자부품연구원 | 라이다 장치 |
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Also Published As
Publication number | Publication date |
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US8908159B2 (en) | 2014-12-09 |
CA2833435C (en) | 2016-07-12 |
USRE47134E1 (en) | 2018-11-20 |
EP2707748A2 (en) | 2014-03-19 |
WO2012153309A2 (en) | 2012-11-15 |
WO2012153309A3 (en) | 2013-03-14 |
EP2707748A4 (en) | 2014-10-08 |
EP2707748B1 (en) | 2017-09-20 |
US20120287417A1 (en) | 2012-11-15 |
USRE48763E1 (en) | 2021-10-05 |
CA2833435A1 (en) | 2012-11-15 |
JP2018119986A (ja) | 2018-08-02 |
CN103502841B (zh) | 2015-09-23 |
CN103502841A (zh) | 2014-01-08 |
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