JP2021517966A - 測定プロセスを実行するための方法 - Google Patents
測定プロセスを実行するための方法 Download PDFInfo
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- JP2021517966A JP2021517966A JP2020554418A JP2020554418A JP2021517966A JP 2021517966 A JP2021517966 A JP 2021517966A JP 2020554418 A JP2020554418 A JP 2020554418A JP 2020554418 A JP2020554418 A JP 2020554418A JP 2021517966 A JP2021517966 A JP 2021517966A
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- 238000005259 measurement Methods 0.000 title claims abstract description 190
- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000008569 process Effects 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 description 29
- 239000007787 solid Substances 0.000 description 13
- 238000001161 time-correlated single photon counting Methods 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 9
- 230000005855 radiation Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009849 deactivation Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006403 short-term memory Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Images
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
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
-
- 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
- G01S17/93—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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- 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
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
Abstract
Description
12 LIDAR送信機ユニット
14 LIDAR受信機ユニット
16 送信レンズ
18 受信レンズ
20 電子機器
22 送信機チップ
24 エミッタ素子
26 受信機チップ
28 センサ素子
30 レーザ光/レーザ・パルス
32 オブジェクト
33 ピーク
34 接続部
36 マクロ・セル
38 TDC
40 X軸(時間)
42 測定サイクルの開始
44 測定サイクルの終了
46 レーザ・パルスの放射
48 近距離の検出
50 中距離の検出
52 遠距離の検出
54 ヒストグラム
56 ビン
58 検出
60 第1の測定サイクル
62 第2の測定サイクル
64 第3の測定サイクル
66 オブジェクト
67 ピーク
68 スミア・ピーク
α、β、γ センサ・グループ
I、II、... 送信機チップの列
i、ii、... 受信機チップの列
A、B、... 送信機チップの行
a、b、... 受信機チップの行
tstart 時間
tende 時間
t0 時間
t1 時間
t2 時間
t2* 時間
t3 時間
t4 時間
t5 時間
t6 時間
t7 時間
t8 時間
Tg 時間
T1 時間
T2 時間
ΔT1 待ち時間
ΔT2 待ち時間
Claims (6)
- LIDAR測定システム(10)のための測定プロセスを実行するための方法であって、
前記測定プロセス中に、複数の本質的に同様の測定サイクル(60、62、64)が実行され、
新しい測定サイクル(62)が、前の測定サイクル(60)及び待ち時間(Δt1、Δt2)の終了後にのみ開始し、
連続した測定サイクル(60、62)の前記待ち時間(Δt1、Δt2)が異なる、方法。 - 前記待ち時間(Δt1、Δt2)が、事前定義された時間セグメント内に存在することを特徴とする、請求項1に記載の方法。
- 測定サイクルの前記待ち時間(Δt1、Δt2)が、ランダムに選択されることを特徴とする、請求項1又は2に記載の方法。
- 測定プロセスで既に使用された待ち時間(Δt1、Δt2)が、後続の測定サイクルのために使い切られることを特徴とする、請求項1乃至3のいずれか一項に記載の方法。
- 待ち時間(Δt1、Δt2)が、複数回の使用のために利用可能であることを特徴とする、請求項4に記載の方法。
- 測定サイクルの前記待ち時間(Δt1、Δt2)が、決定論的に選択されることを特徴とする、請求項1又は2に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018205376.6A DE102018205376A1 (de) | 2018-04-10 | 2018-04-10 | Verfahren zum Durchführen eines Messvorgangs |
DE102018205376.6 | 2018-04-10 | ||
PCT/EP2019/058395 WO2019197243A1 (de) | 2018-04-10 | 2019-04-03 | Verfahren zum durchführen eines messvorgangs |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021517966A true JP2021517966A (ja) | 2021-07-29 |
JP7195335B2 JP7195335B2 (ja) | 2022-12-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020554418A Active JP7195335B2 (ja) | 2018-04-10 | 2019-04-03 | 測定プロセスを実行するための方法 |
Country Status (9)
Country | Link |
---|---|
US (1) | US20210026013A1 (ja) |
EP (1) | EP3775982A1 (ja) |
JP (1) | JP7195335B2 (ja) |
KR (1) | KR102478719B1 (ja) |
CN (1) | CN112292610A (ja) |
CA (1) | CA3094023A1 (ja) |
DE (1) | DE102018205376A1 (ja) |
IL (1) | IL277852A (ja) |
WO (1) | WO2019197243A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11762193B2 (en) * | 2018-08-17 | 2023-09-19 | Apple Inc. | Optical tracking system |
US11639998B2 (en) | 2018-09-28 | 2023-05-02 | Apple Inc. | Optical communication system for position-finding of a portable electronic device in free space |
US20210165094A1 (en) * | 2019-11-29 | 2021-06-03 | Waymo Llc | Retroreflector Detection and Avoidance in a LIDAR Device |
DE102020208104A1 (de) * | 2020-06-30 | 2021-12-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | LiDAR-Sensor, insbesondere Vertical Flash LiDAR-Sensor |
DE102020214041A1 (de) | 2020-11-09 | 2022-05-12 | Zf Friedrichshafen Ag | Verfahren und Vorrichtung zur Ansteuerung von Emitterelementen eines LIDAR-Messsystems sowie LIDAR-Messsystem |
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JPH07167955A (ja) * | 1993-12-15 | 1995-07-04 | Nikon Corp | 距離測定装置 |
JPH07191144A (ja) * | 1993-11-18 | 1995-07-28 | Topcon Corp | パルス方式の光波距離計 |
JP2007203519A (ja) * | 2006-01-31 | 2007-08-16 | Yushin Precision Equipment Co Ltd | 成形品取出機 |
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DE102014207599A1 (de) * | 2014-04-23 | 2015-10-29 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fotodetektors |
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2018
- 2018-04-10 DE DE102018205376.6A patent/DE102018205376A1/de active Pending
-
2019
- 2019-04-03 JP JP2020554418A patent/JP7195335B2/ja active Active
- 2019-04-03 KR KR1020207028994A patent/KR102478719B1/ko active IP Right Grant
- 2019-04-03 CA CA3094023A patent/CA3094023A1/en active Pending
- 2019-04-03 CN CN201980024681.6A patent/CN112292610A/zh active Pending
- 2019-04-03 WO PCT/EP2019/058395 patent/WO2019197243A1/de unknown
- 2019-04-03 EP EP19716351.2A patent/EP3775982A1/de active Pending
-
2020
- 2020-10-07 IL IL277852A patent/IL277852A/en unknown
- 2020-10-09 US US17/066,704 patent/US20210026013A1/en active Pending
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Also Published As
Publication number | Publication date |
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EP3775982A1 (de) | 2021-02-17 |
DE102018205376A1 (de) | 2019-10-10 |
IL277852A (en) | 2020-11-30 |
KR102478719B1 (ko) | 2022-12-16 |
JP7195335B2 (ja) | 2022-12-23 |
KR20200127245A (ko) | 2020-11-10 |
WO2019197243A1 (de) | 2019-10-17 |
CN112292610A (zh) | 2021-01-29 |
CA3094023A1 (en) | 2019-10-17 |
US20210026013A1 (en) | 2021-01-28 |
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