JP7170379B2 - 光検出と測距(lidar)走査システム及び方法 - Google Patents
光検出と測距(lidar)走査システム及び方法 Download PDFInfo
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- JP7170379B2 JP7170379B2 JP2016197927A JP2016197927A JP7170379B2 JP 7170379 B2 JP7170379 B2 JP 7170379B2 JP 2016197927 A JP2016197927 A JP 2016197927A JP 2016197927 A JP2016197927 A JP 2016197927A JP 7170379 B2 JP7170379 B2 JP 7170379B2
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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
- G01S7/4817—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
- 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
-
- 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
- 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
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/101—Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Optical Modulation, Optical Deflection, Nonlinear Optics, Optical Demodulation, Optical Logic Elements (AREA)
Description
102 対象
104 関心領域
106 光源
108 第一スキャナー
110 偏向ミラー
112 第二スキャナー
114 レンズ
116 検出器
117 制御ユニット
Claims (5)
- 関心領域を走査するように構成された走査システムであって、
光信号を偏向させて、初期偏向光信号として出力するように構成された第一スキャナーと、
前記初期偏向光信号を受信し、前記初期偏向光信号を偏向させて、後続偏向光信号として出力するように構成された第二スキャナーと、を備え、
前記第一スキャナー及び前記第二スキャナーが、組み合わせ走査経路にわたって前記後続偏向光信号を動かすように協働し、
前記第一スキャナーと前記第二スキャナーとの間に配置された偏向ミラーを更に備え、前記偏向ミラーが、前記初期偏向光信号が通過する開口を備え、
前記偏向ミラーによって偏向された前記関心領域内の対象からの反射光信号を受信するように構成された検出器を更に備え、
前記第一スキャナーが第一走査角度で前記光信号を偏向させるように構成されていて、前記第二スキャナーが前記第一走査角度とは異なる第二走査角度で前記初期偏向光信号を偏向させるように構成されていて、前記開口が前記第一走査角度に適合するサイズ及び形状にされていて、
前記第一スキャナーが第一速度で前記光信号を偏向させるように構成されていて、前記第二スキャナーが前記第一速度とは異なる第二速度で前記初期偏向光信号を偏向させるように構成されている、走査システム。 - 前記第二スキャナーが、二つの異なる軸に対して作動するように構成されたミラーを備える、請求項1に記載の走査システム。
- 前記第一スキャナー内に向けて前記光信号を放出するように構成された光源を更に備える請求項1に記載の走査システム。
- 前記反射光信号を前記検出器内に集束させるように構成された一つ以上のレンズを更に備える請求項1に記載の走査システム。
- 関心領域を走査するように構成されたLIDAR走査システムであって、
光信号を放出するように構成された光源と、
前記光源から前記光信号を受信して、第一速度で第一走査角度にわたって前記光信号を偏向させて、初期偏向光信号として出力するように構成された第一スキャナーと、
前記初期偏向光信号を受信して、前記第一速度よりも遅い第二速度で前記第一走査角度よりも大きい第二走査角度にわたって前記初期偏向光信号を偏向させて、後続偏向光信号として出力するように構成された第二スキャナーであって、該第二スキャナーが、二つの異なる軸に対して作動するように構成されたミラーを備え、前記第一スキャナー及び該第二スキャナーが組み合わせ走査経路にわたって前記後続偏向光信号を動かすように協働する、第二スキャナーと、
前記第一スキャナーと前記第二スキャナーとの間に配置された偏向ミラーであって、前記初期偏向光信号が通過する開口を備え、前記開口が前記第一走査角度に適合するサイズ及び形状にされている、偏向ミラーと、
少なくとも一つのレンズであって、前記偏向ミラーによって該少なくとも一つのレンズ内に偏向させた前記関心領域内の対象からの反射光信号を集束させるように構成された少なくとも一つのレンズと、
前記少なくとも一つのレンズによって集束させた前記反射光信号を受信するように構成された検出器と、
前記検出器が受信した前記反射光信号に基づいて、一つ以上の画像を形成するように構成された制御ユニットと、を備えるLIDAR走査システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US14/962,837 | 2015-12-08 | ||
US14/962,837 US10175344B2 (en) | 2015-12-08 | 2015-12-08 | Light detection and ranging (LIDAR) scanning systems and methods |
Publications (2)
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JP2017116525A JP2017116525A (ja) | 2017-06-29 |
JP7170379B2 true JP7170379B2 (ja) | 2022-11-14 |
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JP2016197927A Active JP7170379B2 (ja) | 2015-12-08 | 2016-10-06 | 光検出と測距(lidar)走査システム及び方法 |
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US (1) | US10175344B2 (ja) |
EP (1) | EP3187899A3 (ja) |
JP (1) | JP7170379B2 (ja) |
CN (1) | CN107024686B (ja) |
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DE102019125684B4 (de) | 2019-09-24 | 2022-07-28 | Sick Ag | Optoelektronischer Sensor und Verfahren zur Erfassung von Objekten |
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CN116774222B (zh) * | 2023-08-23 | 2023-11-14 | 中国电子科技集团公司第十四研究所 | 一种机电扫结合的多模式马赛克成像方法 |
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- 2015-12-08 US US14/962,837 patent/US10175344B2/en active Active
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- 2016-10-06 JP JP2016197927A patent/JP7170379B2/ja active Active
- 2016-10-10 EP EP16193046.6A patent/EP3187899A3/en active Pending
- 2016-12-05 CN CN201611102734.6A patent/CN107024686B/zh active Active
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Publication number | Publication date |
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EP3187899A2 (en) | 2017-07-05 |
CN107024686B (zh) | 2021-09-17 |
CN107024686A (zh) | 2017-08-08 |
JP2017116525A (ja) | 2017-06-29 |
US20170160382A1 (en) | 2017-06-08 |
EP3187899A3 (en) | 2017-09-13 |
US10175344B2 (en) | 2019-01-08 |
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