JP2018513365A - モジュール式lidarシステム - Google Patents
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- JP2018513365A JP2018513365A JP2017550736A JP2017550736A JP2018513365A JP 2018513365 A JP2018513365 A JP 2018513365A JP 2017550736 A JP2017550736 A JP 2017550736A JP 2017550736 A JP2017550736 A JP 2017550736A JP 2018513365 A JP2018513365 A JP 2018513365A
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Classifications
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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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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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- 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
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- 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
-
- 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
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
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- 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)
- Aviation & Aerospace Engineering (AREA)
Abstract
Description
本出願は、2015年3月31日に出願した「Modular LIDAR System」と題する米国仮出願第62/141,179号、及び2015年6月16日に出願した「Modular LIDAR System」と題する米国出願第14/741,347号の優先権に基づき、かつ優先権を主張する。両出願の内容は、参照により本明細書に組み込まれる。
Claims (16)
- 取付基部と、
前記取付基部に回転可能に連結されたスイベルハウジングであって、前記スイベルハウジングが、前記取付基部によって規定される平面に垂直な第1の軸を中心に回転するように構成された、前記スイベルハウジングと、
前記スイベルハウジングに連結されたLIDARコンポーネントであって、前記LIDARコンポーネントが、前記第1の軸に沿った第1の方向と、前記第1の軸に対して角度オフセットされた第2の軸に沿った第2の方向との間の異なる方向で、前記スイベルハウジングから外側に向けられ、各LIDARコンポーネントが、少なくとも1つのレーザ発光器、及び少なくとも1つのレーザ検出器を含む、前記LIDARコンポーネントと、を備え、
水平視野についての前記スイベルハウジングの1回転により、少なくとも180度の垂直視野において物体の距離測定を行うためのデータを捕捉する、装置。 - 前記スイベルハウジングが、モジュール式LIDARシステムを作成する前記LIDARコンポーネントの個々の前記LIDARコンポーネントを受け入れるスロットを含むシャーシである、請求項1に記載の装置。
- 前記異なる方向のうちの隣接する方向間の角度が揃っていない、請求項1または2のいずれか1項に記載の装置。
- 前記第1の方向に沿って前記取付基部から離れる方向に向けられたLIDARコンポーネントをさらに備える、請求項1、2、または3のいずれか1項に記載の装置。
- 無人航空機(UAV)をさらに備え、前記取付基部が、前記UAVの下側に連結されて、前記UAVが飛行中に概して前記UAVの下にある物体の距離測定を可能にする、請求項1、2、3、または4のいずれか1項に記載の装置。
- 前記第1の方向及び前記第2の方向が、90度より小さい角度だけオフセットされる、請求項1、2、3、4、または5のいずれか1項に記載の装置。
- 前記第1の方向及び前記第2の方向が、前記第1の軸に平行な平面の異なる側に前記LIDARコンポーネントを配置するように角度オフセットされており、前記データの分解能を増加させる前記垂直視野の重複走査を生じる当該配置を使用して、前記物体の前記距離測定を行う、請求項1、2、3、4、5、または6のいずれか1項に記載の装置。
- 前記LIDARコンポーネントが、前記第1の軸及び前記第2の軸の両方とは交差しない平面において前記LIDARコンポーネントの少なくともいくつかをオフセットさせる非平面配列で前記スイベルハウジングに連結されている、請求項1、2、3、4、5、6、または7のいずれか1項に記載の装置。
- 前記スイベルハウジングを前記取付基部に対して回転させるモータをさらに備える、請求項1、2、3、4、5、6、7、または8のいずれか1項に記載の装置。
- 前記第1の軸を中心に回転されるときに前記スイベルハウジングの釣り合いをとる、カウンタウエイトをさらに備える、請求項1、2、3、4、5、6、7、8、または9のいずれか1項に記載の装置。
- 気象を含む外来物から前記スイベルハウジングを保護するように前記スイベルハウジングを覆うドームをさらに備える、請求項1、2、3、4、5、6、7、8、9、または10のいずれか1項に記載の装置。
- 前記ドームが前記スイベルハウジングと共に回転する、請求項11に記載の装置。
- 複数のLIDARコンポーネントを支持するシャーシであって、前記シャーシが各LIDARコンポーネントを異なる方向に方向付ける前記シャーシと、
前記複数のLIDARコンポーネントであって、
フレーム、
前記フレームに連結された少なくとも1つのレーザ発光器、
前記フレームに連結されて前記少なくとも1つのレーザ発光器と同一方向に向けられた少なくとも1つのレーザ検出器、
組込みロジックと、前記少なくとも1つのレーザ発光器及び前記少なくとも1つのレーザ検出器に対してやり取りする信号を捕捉及び伝送する配線とを含む回路基板、及び、
前記回路基板に連結されたプラグであって、前記プラグが前記シャーシに連結してLIDARコントローラに前記信号を伝達するように構成されたインタフェースを含む前記プラグを含む、前記複数のLIDARコンポーネントと、を備える、LIDARシステム。 - 前記シャーシが、前記複数のLIDARコンポーネントを、第1の軸に沿った第1の方向と、前記第1の軸に対して角度オフセットされた第2の軸に沿った第2の方向との間の異なる方向で前記シャーシから外側に向け、水平視野についての前記シャーシの1回転により、実質的に180度の垂直視野において物体の距離測定を行うための前記信号を捕捉する、請求項13に記載のLIDARシステム。
- 前記シャーシが、前記複数のLIDARコンポーネントを、90度から180度の間にわたるように分離した異なる方向に方向付ける、請求項13または14のいずれか1項に記載のLIDARシステム。
- 前記異なる方向のうちの隣接する方向間の少なくともいくつかの角度が不均一であるように、シャーシが、前記複数のLIDARコンポーネントを方向付ける、請求項13、14、または15のいずれか1項に記載のLIDARシステム。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562141179P | 2015-03-31 | 2015-03-31 | |
US62/141,179 | 2015-03-31 | ||
US14/741,347 US10012723B2 (en) | 2015-03-31 | 2015-06-16 | Modular LIDAR system |
US14/741,347 | 2015-06-16 | ||
PCT/US2016/024971 WO2016160961A1 (en) | 2015-03-31 | 2016-03-30 | Modular lidar system |
Publications (2)
Publication Number | Publication Date |
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JP2018513365A true JP2018513365A (ja) | 2018-05-24 |
JP6637068B2 JP6637068B2 (ja) | 2020-01-29 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017550736A Active JP6637068B2 (ja) | 2015-03-31 | 2016-03-30 | モジュール式lidarシステム |
Country Status (6)
Country | Link |
---|---|
US (1) | US10012723B2 (ja) |
EP (1) | EP3278141A1 (ja) |
JP (1) | JP6637068B2 (ja) |
CN (1) | CN107430188B (ja) |
CA (1) | CA2977832C (ja) |
WO (1) | WO2016160961A1 (ja) |
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CA2977832A1 (en) | 2016-10-06 |
US10012723B2 (en) | 2018-07-03 |
EP3278141A1 (en) | 2018-02-07 |
JP6637068B2 (ja) | 2020-01-29 |
CA2977832C (en) | 2020-05-12 |
CN107430188A (zh) | 2017-12-01 |
CN107430188B (zh) | 2021-01-22 |
US20160291136A1 (en) | 2016-10-06 |
WO2016160961A1 (en) | 2016-10-06 |
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