WO2008052365A1 - Scanning system for lidar - Google Patents
Scanning system for lidar Download PDFInfo
- Publication number
- WO2008052365A1 WO2008052365A1 PCT/CA2007/002033 CA2007002033W WO2008052365A1 WO 2008052365 A1 WO2008052365 A1 WO 2008052365A1 CA 2007002033 W CA2007002033 W CA 2007002033W WO 2008052365 A1 WO2008052365 A1 WO 2008052365A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- nodding
- mirror
- scanning system
- scan pattern
- rotary
- Prior art date
Links
Classifications
-
- 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
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
-
- 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
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
Definitions
- a typical lidar system includes a rangefinder and a scanning system.
- the rangefinder typically, includes a laser with a wavelength in the ultraviolet (UV) to near-infrared (NIR) range, as well as a receiver.
- the distance to an object can be determined by measuring the time taken for outgoing pulses of laser light to be reflected back into the receiver, or by measuring the phase shift between an outgoing and an incoming
- nodding mirror which is, typically, a planar mirror that rotates clockwise and counterclockwise through an angular range.
- Polygonal-mirror systems include a polygonal mirror, which is a faceted mirror shaped as a regular polygon. The polygonal mirror can be rotated clockwise or counterclockwise through 360°.
- polygonal-mirror systems offer the advantage that once the polygonal mirror is set in rotation, the angular speed of the polygonal mirror must simply be maintained. In contrast, the rotation of the nodding mirror must be periodically stopped and reversed when the nodding mirror reaches the end of the angular range. Therefore, the angular speed at which the 5 nodding mirror can be rotated through a scan pattern is, typically, lower than that of the polygonal mirror.
- the present invention relates to a scanning system for lidar comprising: a nodding mirror having a nodding axis and a centered position; a rotary electromagnetic drive configured to rotate the nodding mirror clockwise and counterclockwise about the nodding axis, comprising: a yoke including a permanent magnet, and an arm including a coil at one end of the arm, wherein the coil is enclosed within the yoke, and an opposite end of the arm is coupled to the nodding mirror, such that movement of the coil within the yoke in response to a current causes the nodding mirror to rotate; a rotary optical encoder configured to produce an output signal in response to rotation of the nodding mirror; and control circuitry configured to adjust the current provided to the rotary electromagnetic drive in response to the output signal of the rotary optical encoder, such that the nodding mirror rotates in a reference scan pattern.
- FIG. 6 is an illustration of a scanning system including a nodding-mirror system and a rotating-mirror system, combined with a rangefinder;
- control circuitry 350 is the HAR- A2/1001 motor controller produced by Elmo Motion Control.
- the nodding-mirror system 100 provided as part of the scanning system of the present invention allows useful information to be gathered into a rangefinder while the nodding mirror 110 is rotating both clockwise and counterclockwise through the reference angular range.
- the control circuitry 350 controls the nodding mirror 110 to rotate in a triangular scan pattern.
- the reference angular velocity is constant over the reference angular range and reverses sign at the limits of the angular range.
- plots of angular velocity versus time and of angular position versus time for the nodding mirror 110 rotating in a triangular scan pattern are presented in FIGS. 4 A and 4B, respectively.
- the computer might direct the nodding-mirror system 110 to rapidly scan a large field of view to produce a low-resolution image and then, once objects of interest have been identified, to slowly scan smaller sections of the overall field of view to image these sections at much higher resolution.
- the scanning system may include a human- machine interface for reprogramming the control circuitry 350 with an updated reference scan pattern while the scanning system is in operation. A user then performs the selection of the updated reference scan pattern while reviewing images from the lidar system in real time.
- This scanning method which we call foveal scanning, mimics the behavior of the human eye in focusing the part of interest of an image on the fovea, an area of the retina with a high-resolution imaging capability.
- the second nodding axis 713 of the second nodding mirror 710 is orthogonal to the nodding axis 113 of the nodding mirror 110.
- the second nodding mirror 710 is planar.
- the nodding axis 113 of the nodding mirror 110 is at an angle of 45° to the centered position of the second nodding mirror 710
- the second nodding axis 713 of the second nodding mirror 710 is at an angle of 45° to the centered position of the nodding mirror 110.
- the optical path 761 of light emitted from the rangefinder 560 is directed out of the page in FIG. 7.
- Such an embodiment is advantageous, because it allows the entire field of view of a lidar system to be scanned with near-perfect collection efficiency.
- the collection efficiency as a function of angular position of the polygonal mirror 910 is calculated prior to masking. Such a calculation may be performed from first principles or by using suitable software, by taking into account factors such as the size of the facets 1014, the offset of the polygonal mirror 910 from the optical path of light from the rangefinder 560, and the size of the aperture of the rangefinder 560. On the basis of the results of such a calculation, regions of the polygonal mirror 910 having a high collection efficiency are masked with a layer of a material that absorbs light at the wavelength of the laser of the rangefinder 560.
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009533630A JP2010508497A (en) | 2006-10-30 | 2007-10-30 | Rider scanning system |
CN2007800403782A CN101589316B (en) | 2006-10-30 | 2007-10-30 | Scanning system for lidar |
CA002668064A CA2668064A1 (en) | 2006-10-30 | 2007-10-30 | Scanning system for lidar |
EP07845503A EP2078212A4 (en) | 2006-10-30 | 2007-10-30 | Scanning system for lidar |
US12/447,937 US8072663B2 (en) | 2006-10-30 | 2007-10-30 | Scanning system for lidar |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US85514606P | 2006-10-30 | 2006-10-30 | |
US60/855,146 | 2006-10-30 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008052365A1 true WO2008052365A1 (en) | 2008-05-08 |
Family
ID=39343777
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CA2007/002033 WO2008052365A1 (en) | 2006-10-30 | 2007-10-30 | Scanning system for lidar |
Country Status (6)
Country | Link |
---|---|
US (1) | US8072663B2 (en) |
EP (1) | EP2078212A4 (en) |
JP (1) | JP2010508497A (en) |
CN (1) | CN101589316B (en) |
CA (1) | CA2668064A1 (en) |
WO (1) | WO2008052365A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010034281A1 (en) | 2010-08-13 | 2012-02-16 | Schaeffler Technologies Gmbh & Co. Kg | Switching device for a transmission |
DE102010062161A1 (en) * | 2010-11-30 | 2012-05-31 | Hilti Aktiengesellschaft | Distance measuring device and surveying system |
DE102011089004A1 (en) | 2011-12-19 | 2013-06-20 | Schaeffler Technologies AG & Co. KG | Switching device for change of transmission in motor vehicle, has additional mass of inertia for equalization of power peaks, where movement of additional mass of inertia is delayed by braking unit |
EP2755048A1 (en) * | 2013-01-15 | 2014-07-16 | Sick Ag | Distance-measuring opto-electronic sensor and method for determing the distance from objects |
DE102013214956A1 (en) | 2013-07-31 | 2015-02-19 | Schaeffler Technologies Gmbh & Co. Kg | Switching device for a transmission |
EP2606312A4 (en) * | 2010-08-16 | 2015-05-06 | Ball Aerospace & Tech Corp | Electronically steered flash lidar |
CN105425245A (en) * | 2015-11-06 | 2016-03-23 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Long-distance high-repetition-frequency laser three-dimensional scanning device based on coherent detection |
WO2017033009A1 (en) * | 2015-08-24 | 2017-03-02 | Sgurrenergy Limited | Remote sensing device |
US20190383912A1 (en) * | 2018-06-14 | 2019-12-19 | Hyundai Mobis Co., Ltd. | Lidar sensor and control method thereof |
Families Citing this family (154)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090168835A1 (en) * | 2007-12-28 | 2009-07-02 | Thomas Heinke | Portable IR Thermometer Having USB-HID Interface |
US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
US20120236379A1 (en) * | 2010-08-23 | 2012-09-20 | Lighttime, Llc | Ladar using mems scanning |
US9199616B2 (en) | 2010-12-20 | 2015-12-01 | Caterpillar Inc. | System and method for determining a ground speed of a machine |
US8909375B2 (en) * | 2012-05-25 | 2014-12-09 | The United States Of America, As Represented By The Secretary Of The Navy | Nodding mechanism for a single-scan sensor |
GB2521312B (en) | 2012-09-06 | 2016-07-06 | Faro Tech Inc | Laser scanner with additional sensing device |
WO2014043461A1 (en) * | 2012-09-14 | 2014-03-20 | Faro Technologies, Inc. | Laser scanner with dynamical adjustment of angular scan velocity |
US9063549B1 (en) | 2013-03-06 | 2015-06-23 | Google Inc. | Light detection and ranging device with oscillating mirror driven by magnetically interactive coil |
US10412368B2 (en) | 2013-03-15 | 2019-09-10 | Uber Technologies, Inc. | Methods, systems, and apparatus for multi-sensory stereo vision for robotics |
US10203399B2 (en) | 2013-11-12 | 2019-02-12 | Big Sky Financial Corporation | Methods and apparatus for array based LiDAR systems with reduced interference |
US9360554B2 (en) | 2014-04-11 | 2016-06-07 | Facet Technology Corp. | Methods and apparatus for object detection and identification in a multiple detector lidar array |
FR3021938B1 (en) * | 2014-06-04 | 2016-05-27 | Commissariat Energie Atomique | PARKING ASSIST DEVICE AND VEHICLE EQUIPPED WITH SUCH A DEVICE. |
US10088558B2 (en) | 2014-08-15 | 2018-10-02 | Aeye, Inc. | Method and system for ladar transmission with spiral dynamic scan patterns |
GB2520822B (en) * | 2014-10-10 | 2016-01-13 | Aveva Solutions Ltd | Image rendering of laser scan data |
US10036801B2 (en) | 2015-03-05 | 2018-07-31 | Big Sky Financial Corporation | Methods and apparatus for increased precision and improved range in a multiple detector LiDAR array |
CN105068085B (en) * | 2015-07-27 | 2017-08-29 | 中国科学技术大学 | High accuracy list motor transmission laser radar three-dimensional scanning instrument |
US10754034B1 (en) | 2015-09-30 | 2020-08-25 | Near Earth Autonomy, Inc. | Apparatus for redirecting field of view of lidar scanner, and lidar scanner including same |
US10557939B2 (en) | 2015-10-19 | 2020-02-11 | Luminar Technologies, Inc. | Lidar system with improved signal-to-noise ratio in the presence of solar background noise |
US10488496B2 (en) | 2015-11-05 | 2019-11-26 | Luminar Technologies, Inc. | Lidar system with improved scanning speed for high-resolution depth mapping |
EP3411660A4 (en) | 2015-11-30 | 2019-11-27 | Luminar Technologies, Inc. | Lidar system with distributed laser and multiple sensor heads and pulsed laser for lidar system |
US10338225B2 (en) * | 2015-12-15 | 2019-07-02 | Uber Technologies, Inc. | Dynamic LIDAR sensor controller |
JP2017116418A (en) * | 2015-12-24 | 2017-06-29 | 本田技研工業株式会社 | Sensing system and sensing method |
CA2955883C (en) * | 2016-01-21 | 2020-05-19 | Institut National D'optique | Rotary scanner, opto-mechanical assembly therefore, and method of modifying an elevation angle of an optical beam |
US10571574B1 (en) | 2016-02-15 | 2020-02-25 | Red Creamery, LLC | Hybrid LADAR with co-planar scanning and imaging field-of-view |
US11156716B1 (en) | 2016-02-15 | 2021-10-26 | Red Creamery Llc | Hybrid LADAR with co-planar scanning and imaging field-of-view |
US9933513B2 (en) | 2016-02-18 | 2018-04-03 | Aeye, Inc. | Method and apparatus for an adaptive ladar receiver |
US10908262B2 (en) | 2016-02-18 | 2021-02-02 | Aeye, Inc. | Ladar transmitter with optical field splitter/inverter for improved gaze on scan area portions |
US10042159B2 (en) | 2016-02-18 | 2018-08-07 | Aeye, Inc. | Ladar transmitter with optical field splitter/inverter |
US20170242102A1 (en) | 2016-02-18 | 2017-08-24 | Aeye, Inc. | Ladar System with Dichroic Photodetector for Tracking the Targeting of a Scanning Ladar Transmitter |
US10281923B2 (en) | 2016-03-03 | 2019-05-07 | Uber Technologies, Inc. | Planar-beam, light detection and ranging system |
US9866816B2 (en) | 2016-03-03 | 2018-01-09 | 4D Intellectual Properties, Llc | Methods and apparatus for an active pulsed 4D camera for image acquisition and analysis |
US9952317B2 (en) | 2016-05-27 | 2018-04-24 | Uber Technologies, Inc. | Vehicle sensor calibration system |
KR102210101B1 (en) * | 2016-09-22 | 2021-02-02 | 한국전자기술연구원 | Optical structure and scanning LiDAR having the same |
US10739441B2 (en) * | 2016-09-29 | 2020-08-11 | Faraday & Future Inc. | System and method for adjusting a LiDAR system |
US10629072B2 (en) * | 2016-10-20 | 2020-04-21 | Ford Global Technologies, Llc | LIDAR and vision vehicle sensing |
US10620310B2 (en) | 2016-11-29 | 2020-04-14 | Waymo Llc | Rotating radar platform |
CN106772407A (en) * | 2016-12-02 | 2017-05-31 | 深圳市镭神智能***有限公司 | Laser radar system based on MEMS micromirror scanning |
DE102016225804A1 (en) * | 2016-12-21 | 2018-06-21 | Robert Bosch Gmbh | Lidar sensor for detecting an object |
DE102016225797B4 (en) * | 2016-12-21 | 2020-06-18 | Robert Bosch Gmbh | Lidar sensor for detecting an object |
KR102580275B1 (en) | 2016-12-30 | 2023-09-18 | 이노뷰전, 인크. | Multi-wavelength lidar design |
US10942257B2 (en) | 2016-12-31 | 2021-03-09 | Innovusion Ireland Limited | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
US11009605B2 (en) | 2017-01-05 | 2021-05-18 | Innovusion Ireland Limited | MEMS beam steering and fisheye receiving lens for LiDAR system |
WO2018129408A1 (en) | 2017-01-05 | 2018-07-12 | Innovusion Ireland Limited | Method and system for encoding and decoding lidar |
JP7206206B2 (en) | 2017-02-17 | 2023-01-17 | エイアイ インコーポレイテッド | LADAR pulse interference avoidance method and system |
US11054507B2 (en) * | 2017-03-15 | 2021-07-06 | Samsung Electronics Co., Ltd. | Method for detecting object and electronic device thereof |
RU2666224C1 (en) * | 2017-03-15 | 2018-09-06 | Самсунг Электроникс Ко., Лтд. | Scanning system for light radar based on reflector with magnetic suspension |
US9810786B1 (en) | 2017-03-16 | 2017-11-07 | Luminar Technologies, Inc. | Optical parametric oscillator for lidar system |
US9810775B1 (en) | 2017-03-16 | 2017-11-07 | Luminar Technologies, Inc. | Q-switched laser for LIDAR system |
US9905992B1 (en) | 2017-03-16 | 2018-02-27 | Luminar Technologies, Inc. | Self-Raman laser for lidar system |
US9869754B1 (en) | 2017-03-22 | 2018-01-16 | Luminar Technologies, Inc. | Scan patterns for lidar systems |
US10479376B2 (en) | 2017-03-23 | 2019-11-19 | Uatc, Llc | Dynamic sensor selection for self-driving vehicles |
US10254388B2 (en) | 2017-03-28 | 2019-04-09 | Luminar Technologies, Inc. | Dynamically varying laser output in a vehicle in view of weather conditions |
US10545240B2 (en) | 2017-03-28 | 2020-01-28 | Luminar Technologies, Inc. | LIDAR transmitter and detector system using pulse encoding to reduce range ambiguity |
US11119198B2 (en) | 2017-03-28 | 2021-09-14 | Luminar, Llc | Increasing operational safety of a lidar system |
US10061019B1 (en) | 2017-03-28 | 2018-08-28 | Luminar Technologies, Inc. | Diffractive optical element in a lidar system to correct for backscan |
US10139478B2 (en) | 2017-03-28 | 2018-11-27 | Luminar Technologies, Inc. | Time varying gain in an optical detector operating in a lidar system |
US10121813B2 (en) | 2017-03-28 | 2018-11-06 | Luminar Technologies, Inc. | Optical detector having a bandpass filter in a lidar system |
US10732281B2 (en) | 2017-03-28 | 2020-08-04 | Luminar Technologies, Inc. | Lidar detector system having range walk compensation |
US10114111B2 (en) | 2017-03-28 | 2018-10-30 | Luminar Technologies, Inc. | Method for dynamically controlling laser power |
US10267899B2 (en) | 2017-03-28 | 2019-04-23 | Luminar Technologies, Inc. | Pulse timing based on angle of view |
US10007001B1 (en) | 2017-03-28 | 2018-06-26 | Luminar Technologies, Inc. | Active short-wave infrared four-dimensional camera |
US10209359B2 (en) | 2017-03-28 | 2019-02-19 | Luminar Technologies, Inc. | Adaptive pulse rate in a lidar system |
US11002853B2 (en) | 2017-03-29 | 2021-05-11 | Luminar, Llc | Ultrasonic vibrations on a window in a lidar system |
US10969488B2 (en) | 2017-03-29 | 2021-04-06 | Luminar Holdco, Llc | Dynamically scanning a field of regard using a limited number of output beams |
US10641874B2 (en) | 2017-03-29 | 2020-05-05 | Luminar Technologies, Inc. | Sizing the field of view of a detector to improve operation of a lidar system |
US10983213B2 (en) | 2017-03-29 | 2021-04-20 | Luminar Holdco, Llc | Non-uniform separation of detector array elements in a lidar system |
US10088559B1 (en) | 2017-03-29 | 2018-10-02 | Luminar Technologies, Inc. | Controlling pulse timing to compensate for motor dynamics |
US10663595B2 (en) | 2017-03-29 | 2020-05-26 | Luminar Technologies, Inc. | Synchronized multiple sensor head system for a vehicle |
WO2018183715A1 (en) | 2017-03-29 | 2018-10-04 | Luminar Technologies, Inc. | Method for controlling peak and average power through laser receiver |
US10254762B2 (en) | 2017-03-29 | 2019-04-09 | Luminar Technologies, Inc. | Compensating for the vibration of the vehicle |
US10976417B2 (en) | 2017-03-29 | 2021-04-13 | Luminar Holdco, Llc | Using detectors with different gains in a lidar system |
US10191155B2 (en) | 2017-03-29 | 2019-01-29 | Luminar Technologies, Inc. | Optical resolution in front of a vehicle |
US9989629B1 (en) | 2017-03-30 | 2018-06-05 | Luminar Technologies, Inc. | Cross-talk mitigation using wavelength switching |
US10295668B2 (en) | 2017-03-30 | 2019-05-21 | Luminar Technologies, Inc. | Reducing the number of false detections in a lidar system |
US10401481B2 (en) | 2017-03-30 | 2019-09-03 | Luminar Technologies, Inc. | Non-uniform beam power distribution for a laser operating in a vehicle |
US10241198B2 (en) | 2017-03-30 | 2019-03-26 | Luminar Technologies, Inc. | Lidar receiver calibration |
US10684360B2 (en) | 2017-03-30 | 2020-06-16 | Luminar Technologies, Inc. | Protecting detector in a lidar system using off-axis illumination |
US11022688B2 (en) | 2017-03-31 | 2021-06-01 | Luminar, Llc | Multi-eye lidar system |
US20180284246A1 (en) | 2017-03-31 | 2018-10-04 | Luminar Technologies, Inc. | Using Acoustic Signals to Modify Operation of a Lidar System |
US9904375B1 (en) * | 2017-04-10 | 2018-02-27 | Uber Technologies, Inc. | LIDAR display systems and methods |
US10677897B2 (en) | 2017-04-14 | 2020-06-09 | Luminar Technologies, Inc. | Combining lidar and camera data |
DE102017208900A1 (en) * | 2017-05-26 | 2018-11-29 | Robert Bosch Gmbh | Method and device for scanning a solid angle |
US11300958B2 (en) * | 2017-07-13 | 2022-04-12 | Waymo Llc | Sensor adjustment based on vehicle motion |
US10746858B2 (en) | 2017-08-17 | 2020-08-18 | Uatc, Llc | Calibration for an autonomous vehicle LIDAR module |
US10775488B2 (en) | 2017-08-17 | 2020-09-15 | Uatc, Llc | Calibration for an autonomous vehicle LIDAR module |
CA3075736A1 (en) | 2017-09-15 | 2019-11-14 | Aeye, Inc. | Intelligent ladar system with low latency motion planning updates |
CN107678042A (en) * | 2017-09-18 | 2018-02-09 | 彭雁齐 | A kind of optical scanner pendulum mirror and its control method, laser imaging radar |
US11415675B2 (en) * | 2017-10-09 | 2022-08-16 | Luminar, Llc | Lidar system with adjustable pulse period |
US10003168B1 (en) | 2017-10-18 | 2018-06-19 | Luminar Technologies, Inc. | Fiber laser with free-space components |
EP3698168A4 (en) | 2017-10-19 | 2021-07-21 | Innovusion Ireland Limited | Lidar with large dynamic range |
US10324185B2 (en) | 2017-11-22 | 2019-06-18 | Luminar Technologies, Inc. | Reducing audio noise in a lidar scanner with a polygon mirror |
US10451716B2 (en) | 2017-11-22 | 2019-10-22 | Luminar Technologies, Inc. | Monitoring rotation of a mirror in a lidar system |
US11493601B2 (en) | 2017-12-22 | 2022-11-08 | Innovusion, Inc. | High density LIDAR scanning |
WO2019139895A1 (en) | 2018-01-09 | 2019-07-18 | Innovusion Ireland Limited | Lidar detection systems and methods that use multi-plane mirrors |
US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
US11195353B2 (en) | 2018-01-17 | 2021-12-07 | Uatc, Llc | Methods, devices, and systems for communicating autonomous-vehicle status |
US10914820B2 (en) | 2018-01-31 | 2021-02-09 | Uatc, Llc | Sensor assembly for vehicles |
WO2019164961A1 (en) | 2018-02-21 | 2019-08-29 | Innovusion Ireland Limited | Lidar systems with fiber optic coupling |
US11391823B2 (en) | 2018-02-21 | 2022-07-19 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
WO2019165095A1 (en) | 2018-02-23 | 2019-08-29 | Innovusion Ireland Limited | Distributed lidar systems |
WO2019165294A1 (en) | 2018-02-23 | 2019-08-29 | Innovusion Ireland Limited | 2-dimensional steering system for lidar systems |
US11808888B2 (en) | 2018-02-23 | 2023-11-07 | Innovusion, Inc. | Multi-wavelength pulse steering in LiDAR systems |
WO2019245614A2 (en) | 2018-03-09 | 2019-12-26 | Innovusion Ireland Limited | Lidar safety systems and methods |
US10578720B2 (en) | 2018-04-05 | 2020-03-03 | Luminar Technologies, Inc. | Lidar system with a polygon mirror and a noise-reducing feature |
US11029406B2 (en) | 2018-04-06 | 2021-06-08 | Luminar, Llc | Lidar system with AlInAsSb avalanche photodiode |
US11789132B2 (en) | 2018-04-09 | 2023-10-17 | Innovusion, Inc. | Compensation circuitry for lidar receiver systems and method of use thereof |
WO2019199775A1 (en) | 2018-04-09 | 2019-10-17 | Innovusion Ireland Limited | Lidar systems and methods for exercising precise control of a fiber laser |
US10348051B1 (en) | 2018-05-18 | 2019-07-09 | Luminar Technologies, Inc. | Fiber-optic amplifier |
CN112585492A (en) * | 2018-06-15 | 2021-03-30 | 图达通爱尔兰有限公司 | LIDAR system and method for focusing a range of interest |
KR102111853B1 (en) * | 2018-06-22 | 2020-05-15 | 무리기술 주식회사 | Multi Scanner |
US10591601B2 (en) | 2018-07-10 | 2020-03-17 | Luminar Technologies, Inc. | Camera-gated lidar system |
US10627516B2 (en) | 2018-07-19 | 2020-04-21 | Luminar Technologies, Inc. | Adjustable pulse characteristics for ground detection in lidar systems |
WO2020028146A1 (en) | 2018-07-30 | 2020-02-06 | Blackmore Sensors And Analytics, Llc | Method and system for optimizing scanning of coherent lidar in autonomous vehicles |
US10551501B1 (en) | 2018-08-09 | 2020-02-04 | Luminar Technologies, Inc. | Dual-mode lidar system |
US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
US11860316B1 (en) | 2018-08-21 | 2024-01-02 | Innovusion, Inc. | Systems and method for debris and water obfuscation compensation for use in LiDAR systems |
US10340651B1 (en) | 2018-08-21 | 2019-07-02 | Luminar Technologies, Inc. | Lidar system with optical trigger |
US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
US11307294B2 (en) | 2018-09-14 | 2022-04-19 | Veoneer Us, Inc. | Scanning assembly for a detection system |
JP2020063978A (en) * | 2018-10-17 | 2020-04-23 | パイオニア株式会社 | Light projecting device, light receiving device, light projecting and receiving device, light projecting method, light receiving method, program and recording medium |
US10656277B1 (en) | 2018-10-25 | 2020-05-19 | Aeye, Inc. | Adaptive control of ladar system camera using spatial index of prior ladar return data |
WO2020102406A1 (en) | 2018-11-14 | 2020-05-22 | Innovusion Ireland Limited | Lidar systems and methods that use a multi-facet mirror |
CN109870735B (en) * | 2018-12-29 | 2024-07-09 | 同方威视技术股份有限公司 | Millimeter wave/terahertz wave security inspection instrument and reflecting plate scanning driving device thereof |
WO2020146493A1 (en) | 2019-01-10 | 2020-07-16 | Innovusion Ireland Limited | Lidar systems and methods with beam steering and wide angle signal detection |
CN109633607B (en) * | 2019-01-14 | 2023-12-22 | 山东省科学院海洋仪器仪表研究所 | Laser radar large-caliber double-shaft optical scanning rotating mirror system |
US11774561B2 (en) | 2019-02-08 | 2023-10-03 | Luminar Technologies, Inc. | Amplifier input protection circuits |
US11486970B1 (en) | 2019-02-11 | 2022-11-01 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a LiDAR system |
US11709227B2 (en) | 2019-04-02 | 2023-07-25 | Ford Global Technologies, Llc | Beam distribution adjustment for a sensor |
US11977185B1 (en) | 2019-04-04 | 2024-05-07 | Seyond, Inc. | Variable angle polygon for use with a LiDAR system |
US10921450B2 (en) | 2019-04-24 | 2021-02-16 | Aeye, Inc. | Ladar system and method with frequency domain shuttering |
US11556000B1 (en) | 2019-08-22 | 2023-01-17 | Red Creamery Llc | Distally-actuated scanning mirror |
CN112859048A (en) * | 2019-11-27 | 2021-05-28 | 上海禾赛科技股份有限公司 | Light beam scanning apparatus, laser radar including the same, and control method |
CN111060919A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Intelligent robot-based measuring method and intelligent robot |
US11543652B2 (en) * | 2020-04-20 | 2023-01-03 | Luminar, Llc | Imaging system having coil on mirror actuator |
US11016197B1 (en) * | 2020-06-29 | 2021-05-25 | Aurora Innovation, Inc. | LIDAR system |
US11422267B1 (en) | 2021-02-18 | 2022-08-23 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
US11789128B2 (en) | 2021-03-01 | 2023-10-17 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
US11460552B1 (en) | 2021-03-26 | 2022-10-04 | Aeye, Inc. | Hyper temporal lidar with dynamic control of variable energy laser source |
US11630188B1 (en) | 2021-03-26 | 2023-04-18 | Aeye, Inc. | Hyper temporal lidar with dynamic laser control using safety models |
US11635495B1 (en) | 2021-03-26 | 2023-04-25 | Aeye, Inc. | Hyper temporal lidar with controllable tilt amplitude for a variable amplitude scan mirror |
US20230044929A1 (en) | 2021-03-26 | 2023-02-09 | Aeye, Inc. | Multi-Lens Lidar Receiver with Multiple Readout Channels |
US20220317249A1 (en) | 2021-03-26 | 2022-10-06 | Aeye, Inc. | Hyper Temporal Lidar with Switching Between a Baseline Scan Mode and a Pulse Burst Mode |
US20220308222A1 (en) | 2021-03-26 | 2022-09-29 | Aeye, Inc. | Hyper Temporal Lidar with Multi-Channel Readout of Returns |
US11822016B2 (en) | 2021-03-26 | 2023-11-21 | Aeye, Inc. | Hyper temporal lidar using multiple matched filters to orient a lidar system to a frame of reference |
US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
EP4305450A1 (en) | 2021-04-22 | 2024-01-17 | Innovusion, Inc. | A compact lidar design with high resolution and ultra-wide field of view |
US11624806B2 (en) | 2021-05-12 | 2023-04-11 | Innovusion, Inc. | Systems and apparatuses for mitigating LiDAR noise, vibration, and harshness |
EP4314884A1 (en) | 2021-05-21 | 2024-02-07 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside lidar scanner |
US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
CN216356147U (en) | 2021-11-24 | 2022-04-19 | 图达通智能科技(苏州)有限公司 | Vehicle-mounted laser radar motor, vehicle-mounted laser radar and vehicle |
US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4626063A (en) * | 1983-04-15 | 1986-12-02 | Honey Frank R | Control of rotating mirrors |
US4810088A (en) | 1984-08-16 | 1989-03-07 | Hughes Aircraft Company | Laser rangefinder and thermal imager with enhanced scanning mirror control |
US5006721A (en) | 1990-03-23 | 1991-04-09 | Perceptron, Inc. | Lidar scanning system |
US5231401A (en) | 1990-08-10 | 1993-07-27 | Kaman Aerospace Corporation | Imaging lidar system |
US5337189A (en) | 1992-05-13 | 1994-08-09 | Aerospatiale Societe Nationale Industrielle | Scannig emitter-receiver optical device |
US6107770A (en) | 1998-01-27 | 2000-08-22 | Lockheed Martin Corporation | Control system for counter-oscillating masses |
US6262800B1 (en) | 1999-03-05 | 2001-07-17 | Lockheed Martin Corporation | Dual mode semi-active laser/laser radar seeker |
US20030063357A1 (en) | 2001-09-28 | 2003-04-03 | Toshiki Maruyama | Galvanometer-type scanner |
US6650402B2 (en) | 2000-02-10 | 2003-11-18 | Oceanit Laboratories, Inc. | Omni-directional cloud height indicator |
US20040190577A1 (en) * | 2003-02-27 | 2004-09-30 | Hans-Stephan Albrecht | Fast linear motor for wavelength variation for lithography lasers |
US20050099637A1 (en) * | 1996-04-24 | 2005-05-12 | Kacyra Ben K. | Integrated system for quickly and accurately imaging and modeling three-dimensional objects |
US20050184156A1 (en) | 2004-02-19 | 2005-08-25 | Hitachi Via Mechanics Ltd. | Optical scanner control method, optical scanner and laser machining apparatus |
US7135672B2 (en) | 2004-12-20 | 2006-11-14 | United States Of America As Represented By The Secretary Of The Army | Flash ladar system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS55113016A (en) * | 1979-02-23 | 1980-09-01 | Ricoh Co Ltd | Oscillating mirror drive system |
CN1049982C (en) * | 1997-01-30 | 2000-03-01 | 中国科学院上海光学精密机械研究所 | Two-dimensional deflection plane mirror scanner |
JP4807695B2 (en) * | 2000-07-24 | 2011-11-02 | 日本発條株式会社 | Searching light scanning actuator |
CN1250961C (en) * | 2004-01-08 | 2006-04-12 | 中国科学院安徽光学精密机械研究所 | Vehicle carried biware length scattering laser radar |
JPWO2008152979A1 (en) * | 2007-06-12 | 2010-08-26 | 日本発條株式会社 | Optical scanning sensor |
-
2007
- 2007-10-30 CA CA002668064A patent/CA2668064A1/en not_active Abandoned
- 2007-10-30 EP EP07845503A patent/EP2078212A4/en not_active Withdrawn
- 2007-10-30 CN CN2007800403782A patent/CN101589316B/en not_active Expired - Fee Related
- 2007-10-30 JP JP2009533630A patent/JP2010508497A/en active Pending
- 2007-10-30 WO PCT/CA2007/002033 patent/WO2008052365A1/en active Application Filing
- 2007-10-30 US US12/447,937 patent/US8072663B2/en not_active Expired - Fee Related
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4626063A (en) * | 1983-04-15 | 1986-12-02 | Honey Frank R | Control of rotating mirrors |
US4810088A (en) | 1984-08-16 | 1989-03-07 | Hughes Aircraft Company | Laser rangefinder and thermal imager with enhanced scanning mirror control |
US5006721A (en) | 1990-03-23 | 1991-04-09 | Perceptron, Inc. | Lidar scanning system |
US5231401A (en) | 1990-08-10 | 1993-07-27 | Kaman Aerospace Corporation | Imaging lidar system |
US5337189A (en) | 1992-05-13 | 1994-08-09 | Aerospatiale Societe Nationale Industrielle | Scannig emitter-receiver optical device |
US20050099637A1 (en) * | 1996-04-24 | 2005-05-12 | Kacyra Ben K. | Integrated system for quickly and accurately imaging and modeling three-dimensional objects |
US7215430B2 (en) | 1996-04-24 | 2007-05-08 | Leica Geosystems Hds Llc | Integrated system for quickly and accurately imaging and modeling three-dimensional objects |
US6107770A (en) | 1998-01-27 | 2000-08-22 | Lockheed Martin Corporation | Control system for counter-oscillating masses |
US6262800B1 (en) | 1999-03-05 | 2001-07-17 | Lockheed Martin Corporation | Dual mode semi-active laser/laser radar seeker |
US6650402B2 (en) | 2000-02-10 | 2003-11-18 | Oceanit Laboratories, Inc. | Omni-directional cloud height indicator |
US20030063357A1 (en) | 2001-09-28 | 2003-04-03 | Toshiki Maruyama | Galvanometer-type scanner |
US20040190577A1 (en) * | 2003-02-27 | 2004-09-30 | Hans-Stephan Albrecht | Fast linear motor for wavelength variation for lithography lasers |
US20050184156A1 (en) | 2004-02-19 | 2005-08-25 | Hitachi Via Mechanics Ltd. | Optical scanner control method, optical scanner and laser machining apparatus |
US7135672B2 (en) | 2004-12-20 | 2006-11-14 | United States Of America As Represented By The Secretary Of The Army | Flash ladar system |
Non-Patent Citations (1)
Title |
---|
See also references of EP2078212A4 * |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012019798A1 (en) | 2010-08-13 | 2012-02-16 | Schaeffler Technologies Gmbh & Co. Kg | Shifting device for a transmission |
DE102010034281A1 (en) | 2010-08-13 | 2012-02-16 | Schaeffler Technologies Gmbh & Co. Kg | Switching device for a transmission |
EP2606312A4 (en) * | 2010-08-16 | 2015-05-06 | Ball Aerospace & Tech Corp | Electronically steered flash lidar |
DE102010062161A1 (en) * | 2010-11-30 | 2012-05-31 | Hilti Aktiengesellschaft | Distance measuring device and surveying system |
US8797511B2 (en) | 2010-11-30 | 2014-08-05 | Hilti Aktiengesellschaft | Distance measuring device and surveying system |
DE102011089004A1 (en) | 2011-12-19 | 2013-06-20 | Schaeffler Technologies AG & Co. KG | Switching device for change of transmission in motor vehicle, has additional mass of inertia for equalization of power peaks, where movement of additional mass of inertia is delayed by braking unit |
EP2755048A1 (en) * | 2013-01-15 | 2014-07-16 | Sick Ag | Distance-measuring opto-electronic sensor and method for determing the distance from objects |
DE102013214956B4 (en) | 2013-07-31 | 2018-05-17 | Schaeffler Technologies AG & Co. KG | Switching device for a transmission |
DE102013214956A1 (en) | 2013-07-31 | 2015-02-19 | Schaeffler Technologies Gmbh & Co. Kg | Switching device for a transmission |
WO2017033009A1 (en) * | 2015-08-24 | 2017-03-02 | Sgurrenergy Limited | Remote sensing device |
CN105425245A (en) * | 2015-11-06 | 2016-03-23 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Long-distance high-repetition-frequency laser three-dimensional scanning device based on coherent detection |
US20190383912A1 (en) * | 2018-06-14 | 2019-12-19 | Hyundai Mobis Co., Ltd. | Lidar sensor and control method thereof |
US20210325518A1 (en) * | 2018-06-14 | 2021-10-21 | Hyundai Mobis Co., Ltd. | Lidar sensor and control method thereof |
CN113552592A (en) * | 2018-06-14 | 2021-10-26 | 现代摩比斯株式会社 | Laser radar sensor and control method thereof |
US11624808B2 (en) | 2018-06-14 | 2023-04-11 | Hyundai Mobis Co., Ltd. | Lidar sensor and control method thereof |
US11740332B2 (en) | 2018-06-14 | 2023-08-29 | Hyundai Mobis Co., Ltd. | Lidar sensor and control method thereof |
Also Published As
Publication number | Publication date |
---|---|
EP2078212A4 (en) | 2010-12-29 |
CA2668064A1 (en) | 2008-05-08 |
JP2010508497A (en) | 2010-03-18 |
CN101589316B (en) | 2012-08-29 |
US8072663B2 (en) | 2011-12-06 |
US20100053715A1 (en) | 2010-03-04 |
EP2078212A1 (en) | 2009-07-15 |
CN101589316A (en) | 2009-11-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8072663B2 (en) | Scanning system for lidar | |
EP2435875B1 (en) | Single mirror optical scanner | |
US6803938B2 (en) | Dynamic laser printer scanning alignment using a torsional hinge mirror | |
US7388700B1 (en) | Ball joint gimbal mirror with actuator assembly | |
EP3698169A1 (en) | Methods and apparatuses for scanning a lidar system in two dimensions | |
US9664899B2 (en) | Optical scanning device and image reading system | |
CN112014827B (en) | Object detection device | |
EP3521894B1 (en) | Mems reflector system with trajectory control | |
JP2005069975A (en) | Laser distance measuring instrument | |
KR20190105889A (en) | LiDAR scanning device | |
KR20190084574A (en) | LiDAR scanning device | |
US20110019252A1 (en) | Oscillator device, optical deflector and image forming apparatus using the same | |
CN112444796B (en) | Vibrating mirror and laser radar | |
CN112213853A (en) | Optical scanning device, object detection device, optical scanning method, object detection method, and program | |
US6069726A (en) | Optical scanner | |
US11525896B2 (en) | Scanning mirror system with attached magnet | |
JP2002071809A (en) | Scanner, scan method and non-contact type measuring device | |
US20210033845A1 (en) | Scanning Mirror System with Attached Coil | |
EP1050772B1 (en) | Optical scanner | |
WO2022219410A2 (en) | Lidar with a biaxial mirror assembly | |
JP2022033137A (en) | Optical scanning device and range finding device | |
JP3162779B2 (en) | Optical head of optical radar system | |
US20240142580A1 (en) | Oscillator assembly with counter-rotating mass | |
US20230359020A1 (en) | Deflection device for lissajous scanning | |
KR20190112424A (en) | Tripod MEMS scanner using electromagnetic Force Drive |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200780040378.2 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 07845503 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2007845503 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2009533630 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2668064 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12447937 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |