JP2021167796A - センサ及びセンサシステム - Google Patents
センサ及びセンサシステム Download PDFInfo
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- JP2021167796A JP2021167796A JP2020071706A JP2020071706A JP2021167796A JP 2021167796 A JP2021167796 A JP 2021167796A JP 2020071706 A JP2020071706 A JP 2020071706A JP 2020071706 A JP2020071706 A JP 2020071706A JP 2021167796 A JP2021167796 A JP 2021167796A
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- 238000001514 detection method Methods 0.000 description 37
- 238000007726 management method Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
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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
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
-
- 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
-
- 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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
- G01S17/88—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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/35—Details of non-pulse systems
-
- 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
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4911—Transmitters
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
センサに係る実施形態について説明する。実施形態に係るセンサは、観測波としてのビーム(光、電磁波等)の出射方向を所定角度ずつ変えながら、該ビームを走査方向に沿って走査させる出射手段を備える。ここで「ビーム」は、指向性が比較的高い観測波を意味する。「ビーム」の具体例としては、光ビーム(即ち、レーザビーム)、ペンシルビーム等が挙げられる。尚、所定角度は、一定の角度であってもよいし、走査方向毎に異なっていてもよい(例えば、水平走査時の所定角度と、垂直走査時の所定角度とが異なっていてもよい)。
センサシステムに係る実施形態について説明する。実施形態に係るセンサシステムは、第1センサと、該第1センサより角度分解能の高い第2センサとを備える。ここで、第2センサは、第1センサより角度分解能が高い限りにおいて、第1センサと同一種別のセンサであってもよいし、第1センサとは異なる種別のセンサであってもよい。尚、第1センサは、一つに限らず複数であってよい。第2センサも、一つに限らず複数であってよい。
Claims (3)
- 観測波としてのビームの出射方向を所定角度ずつ変えながら、前記ビームを走査方向に沿って走査させる出射手段と、
前記ビームの前記走査方向の広がりを示す指標であるビーム幅が、前記所定角度より大きくなるように前記出射手段を制御する制御手段と、 目標物体に照射された複数の前記ビームに夫々対応する複数の観測点から、前記目標物体に係る代表点を推定する推定手段と、
を備えることを特徴とするセンサ。 - 前記複数の観測点には、前記目標物体において前記ビームが反射されることにより生じる反射波に起因する第1種観測点と、前記出射手段から見て前記目標物体よりも奥において前記ビームが反射されることにより生じる反射波に起因する第2種観測点とが含まれており、
前記推定手段は、前記第1種観測点及び前記第2種観測点から、前記目標物体の形状を推定する
ことを特徴とする請求項1に記載のセンサ。 - 第1センサと、
前記第1センサより角度分解能の高い第2センサと、
備え、
前記第2センサは、
観測波としてのビームの出射方向を所定角度ずつ変えながら、前記ビームを走査方向に沿って走査させる出射手段と、
前記ビームの前記走査方向の広がりを示す指標であるビーム幅が、前記所定角度より大きくなるように前記出射手段を制御する制御手段と、 目標物体に照射された複数の前記ビームに夫々対応する複数の観測点から、前記目標物体に係る代表点を推定する推定手段と、
を有する
ことを特徴とするセンサシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020071706A JP7347314B2 (ja) | 2020-04-13 | 2020-04-13 | センサ及びセンサシステム |
US17/209,306 US20210318416A1 (en) | 2020-04-13 | 2021-03-23 | Sensor and sensor system |
CN202110342827.0A CN113534119B (zh) | 2020-04-13 | 2021-03-30 | 传感器及传感器系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2020071706A JP7347314B2 (ja) | 2020-04-13 | 2020-04-13 | センサ及びセンサシステム |
Publications (2)
Publication Number | Publication Date |
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JP2021167796A true JP2021167796A (ja) | 2021-10-21 |
JP7347314B2 JP7347314B2 (ja) | 2023-09-20 |
Family
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JP2020071706A Active JP7347314B2 (ja) | 2020-04-13 | 2020-04-13 | センサ及びセンサシステム |
Country Status (3)
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US (1) | US20210318416A1 (ja) |
JP (1) | JP7347314B2 (ja) |
CN (1) | CN113534119B (ja) |
Families Citing this family (1)
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JP2023070546A (ja) * | 2021-11-09 | 2023-05-19 | 株式会社東芝 | 投光装置、測距装置、及びレーザ光の投光制御方法 |
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2020
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-
2021
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- 2021-03-30 CN CN202110342827.0A patent/CN113534119B/zh active Active
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JPS5327776U (ja) * | 1976-08-17 | 1978-03-09 | ||
JPH08261753A (ja) * | 1995-03-27 | 1996-10-11 | Hitachi Ltd | 光レーダ装置 |
JPH10104355A (ja) * | 1996-09-30 | 1998-04-24 | Omron Corp | 測距装置 |
JPH10142324A (ja) * | 1996-11-14 | 1998-05-29 | Furukawa Electric Co Ltd:The | レーダ装置 |
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CN113534119A (zh) | 2021-10-22 |
US20210318416A1 (en) | 2021-10-14 |
JP7347314B2 (ja) | 2023-09-20 |
CN113534119B (zh) | 2024-04-30 |
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