CN110088645A - 3d激光雷达传感器 - Google Patents

3d激光雷达传感器 Download PDF

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Publication number
CN110088645A
CN110088645A CN201780078761.0A CN201780078761A CN110088645A CN 110088645 A CN110088645 A CN 110088645A CN 201780078761 A CN201780078761 A CN 201780078761A CN 110088645 A CN110088645 A CN 110088645A
Authority
CN
China
Prior art keywords
sensor
laser beam
lidar sensor
lens
laser radar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201780078761.0A
Other languages
English (en)
Chinese (zh)
Inventor
K·施拓佩尔
A·比特纳
S·博加特舍尔
H-J·施瓦茨
J·斯帕贝尔特
A·弗雷泽里克森
J·奥斯特林斯凯
M·卡米尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN110088645A publication Critical patent/CN110088645A/zh
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • 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)
  • Measurement Of Optical Distance (AREA)
  • Mechanical Optical Scanning Systems (AREA)
CN201780078761.0A 2016-10-19 2017-10-02 3d激光雷达传感器 Pending CN110088645A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016220504.8A DE102016220504A1 (de) 2016-10-19 2016-10-19 3D-LIDAR-Sensor
DE102016220504.8 2016-10-19
PCT/EP2017/074980 WO2018072986A1 (de) 2016-10-19 2017-10-02 3d-lidar-sensor

Publications (1)

Publication Number Publication Date
CN110088645A true CN110088645A (zh) 2019-08-02

Family

ID=60302060

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780078761.0A Pending CN110088645A (zh) 2016-10-19 2017-10-02 3d激光雷达传感器

Country Status (6)

Country Link
US (1) US11022691B2 (https=)
EP (1) EP3529634B1 (https=)
JP (2) JP2019533153A (https=)
CN (1) CN110088645A (https=)
DE (1) DE102016220504A1 (https=)
WO (1) WO2018072986A1 (https=)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965070A (zh) * 2021-02-01 2021-06-15 江西欧迈斯微电子有限公司 扫地机和扫地机表面异物的检测方法
CN113391294A (zh) * 2021-06-18 2021-09-14 特斯联科技集团有限公司 多线激光雷达约束调节系统及检测方法
CN114137498A (zh) * 2020-09-04 2022-03-04 罗伯特·博世有限公司 具有扩大检测区域的激光雷达传感器
CN114167389A (zh) * 2020-09-10 2022-03-11 罗伯特·博世有限公司 激光雷达设备的在线校准
CN114585947A (zh) * 2020-05-06 2022-06-03 奥迪股份公司 具有光学的环境传感器的机动车以及运行机动车的方法
CN116593992A (zh) * 2021-12-08 2023-08-15 汉拿科锐动电子股份公司 激光雷达装置

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US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
DE102017206923B4 (de) * 2017-04-25 2020-12-31 Robert Bosch Gmbh Steuerung einer gerichteten Lichtquelle
EP3637128A1 (de) * 2018-10-10 2020-04-15 Covestro Deutschland AG Umfeldsensor mit beweglicher umlenkeinrichtung für kraftfahrzeuge
JP7603431B2 (ja) * 2020-12-08 2024-12-20 京セラ株式会社 電磁波検出装置及び電磁波検出方法
US12444068B2 (en) 2022-08-01 2025-10-14 Lg Innotek Co., Ltd. Optical inspection based on repetitive feature comparison
US20240176000A1 (en) * 2022-11-30 2024-05-30 Continental Autonomous Mobility US, LLC Optical element damage detection including strain gauge
DE102023205156A1 (de) * 2023-06-02 2024-12-05 Zf Friedrichshafen Ag Vorrichtung und Verfahren zur Bestimmung von Abtastlücken in einem Abtastbereich eines Lidarsensors

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US6122040A (en) * 1997-11-06 2000-09-19 Omron Corporation System and method of detecting deviation of an axis and adjusting the axis of a range finder
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US20050200840A1 (en) * 2004-03-09 2005-09-15 Takekazu Terui Object detecting apparatus
US20070138393A1 (en) * 2004-11-18 2007-06-21 Frank Wemken Sensor for monitoring the immediate vicinity of a motor vehicle
JP2008058173A (ja) * 2006-08-31 2008-03-13 Olympus Imaging Corp 車載用のレーダ装置に用いるスキャナ
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DE102015200224A1 (de) 2015-01-09 2016-07-14 Robert Bosch Gmbh 3D-LIDAR-Sensor
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US5455669A (en) * 1992-12-08 1995-10-03 Erwin Sick Gmbh Optik-Elektronik Laser range finding apparatus
US5585605A (en) * 1993-11-05 1996-12-17 Microfield Graphics, Inc. Optical-scanning system employing laser and laser safety control
US5623334A (en) * 1993-12-29 1997-04-22 Hyundai Electronics Industries Co., Ltd. Optical distance measurement apparatus and method using cleaning device
JPH0935176A (ja) * 1995-07-14 1997-02-07 Omron Corp 車種判別装置
JPH10142335A (ja) * 1996-11-07 1998-05-29 Omron Corp 物体情報検知装置
US6122040A (en) * 1997-11-06 2000-09-19 Omron Corporation System and method of detecting deviation of an axis and adjusting the axis of a range finder
JP2002031685A (ja) * 2000-07-17 2002-01-31 Denso Corp 反射測定装置
JP2002236176A (ja) * 2001-02-07 2002-08-23 Honda Motor Co Ltd 車両用物体検知装置の軸調整装置
US20040257556A1 (en) * 2003-06-20 2004-12-23 Denso Corporation Object recognition apparatus designed to detect adhesion of dirt to radar
US20050200840A1 (en) * 2004-03-09 2005-09-15 Takekazu Terui Object detecting apparatus
US20070138393A1 (en) * 2004-11-18 2007-06-21 Frank Wemken Sensor for monitoring the immediate vicinity of a motor vehicle
JP2008058173A (ja) * 2006-08-31 2008-03-13 Olympus Imaging Corp 車載用のレーダ装置に用いるスキャナ
JP2009204903A (ja) * 2008-02-28 2009-09-10 Seiko Epson Corp 光走査装置及びその異常検出方法
US20160124076A1 (en) * 2013-06-03 2016-05-05 Denso Corporation Radar apparatus, method for inspecting axis deviation thereof, and computer-readable recording medium with program recorded thereon
US20150109604A1 (en) * 2013-10-18 2015-04-23 Makoto Masuda Distance measuring apparatus using laser light
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JP2016024316A (ja) * 2014-07-18 2016-02-08 船井電機株式会社 レーザ走査装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114585947A (zh) * 2020-05-06 2022-06-03 奥迪股份公司 具有光学的环境传感器的机动车以及运行机动车的方法
CN114585947B (zh) * 2020-05-06 2024-11-26 奥迪股份公司 具有光学的环境传感器的机动车以及运行机动车的方法
CN114137498A (zh) * 2020-09-04 2022-03-04 罗伯特·博世有限公司 具有扩大检测区域的激光雷达传感器
CN114167389A (zh) * 2020-09-10 2022-03-11 罗伯特·博世有限公司 激光雷达设备的在线校准
CN112965070A (zh) * 2021-02-01 2021-06-15 江西欧迈斯微电子有限公司 扫地机和扫地机表面异物的检测方法
CN113391294A (zh) * 2021-06-18 2021-09-14 特斯联科技集团有限公司 多线激光雷达约束调节系统及检测方法
CN113391294B (zh) * 2021-06-18 2021-12-31 特斯联科技集团有限公司 多线激光雷达约束调节系统及检测方法
CN116593992A (zh) * 2021-12-08 2023-08-15 汉拿科锐动电子股份公司 激光雷达装置

Also Published As

Publication number Publication date
JP2022003344A (ja) 2022-01-11
WO2018072986A1 (de) 2018-04-26
JP2019533153A (ja) 2019-11-14
EP3529634A1 (de) 2019-08-28
US20200049824A1 (en) 2020-02-13
US11022691B2 (en) 2021-06-01
EP3529634B1 (de) 2024-12-11
JP7507133B2 (ja) 2024-06-27
DE102016220504A1 (de) 2018-04-19

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