JP6270863B2 - 構造化光パターンをシーンに投影するためのレーザー装置 - Google Patents
構造化光パターンをシーンに投影するためのレーザー装置 Download PDFInfo
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- JP6270863B2 JP6270863B2 JP2015544580A JP2015544580A JP6270863B2 JP 6270863 B2 JP6270863 B2 JP 6270863B2 JP 2015544580 A JP2015544580 A JP 2015544580A JP 2015544580 A JP2015544580 A JP 2015544580A JP 6270863 B2 JP6270863 B2 JP 6270863B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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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
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/005—Optical components external to the laser cavity, specially adapted therefor, e.g. for homogenisation or merging of the beams or for manipulating laser pulses, e.g. pulse shaping
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
- H01S5/42—Arrays of surface emitting lasers
- H01S5/423—Arrays of surface emitting lasers having a vertical cavity
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
- H01S5/42—Arrays of surface emitting lasers
- H01S5/423—Arrays of surface emitting lasers having a vertical cavity
- H01S5/426—Vertically stacked cavities
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N23/70—Circuitry for compensating brightness variation in the scene
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- H—ELECTRICITY
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- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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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
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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
- G01S17/88—Lidar systems specially adapted for specific applications
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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
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- H—ELECTRICITY
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- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/10—Construction or shape of the optical resonator, e.g. extended or external cavity, coupled cavities, bent-guide, varying width, thickness or composition of the active region
- H01S5/18—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities
- H01S5/183—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities having only vertical cavities, e.g. vertical cavity surface-emitting lasers [VCSEL]
- H01S5/18386—Details of the emission surface for influencing the near- or far-field, e.g. a grating on the surface
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- Computer Vision & Pattern Recognition (AREA)
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- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
- Semiconductor Lasers (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- Measurement Of Optical Distance (AREA)
- Image Input (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
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Description
2 VCSEL
2a VCSELの発光領域
3 ヒートシンク
4 イメージングレンズ
5 レーザービーム
6 レーザースポット
7 画像面
8 ボンドパッド
9 光パターン
10 レーザー装置
11 カメラ
12 同期化ユニット
13 制御ユニット
14 評価ユニット
15 シーン
Claims (13)
- イメージング空間内のシーンに複数のビームスポットから構成される構造化光パターンを投影するためのレーザー装置であって、
半導体レーザーの複数のアレイであって、前記半導体レーザーがVCSELであり、各アレイが個別のVCSELチップ上に配列され、各アレイが前記半導体レーザーの発光領域の不規則分布を有する、半導体レーザーの複数のアレイと、
前記アレイをイメージング空間に画像化し、前記イメージング空間において前記アレイの画像を重ね合わせて前記光パターンを形成する、一つ若しくは複数のイメージング光学系
とから成り、
前記発光領域の不規則分布が、各VCSELチップ上の発光領域の規則的配列から、前記規則的配列により規定される基準位置に対する前記発光領域のランダムシフトだけ逸脱し、前記シフトが少なくともVCSELの有効直径の距離をカバーすることを特徴とする、
レーザー装置。 - 前記光パターンにおけるビームスポットのほとんどが、異なるアレイの半導体レーザーから生じる少なくとも一つの隣接ビームスポットを有するよう、前記イメージング光学系が構成される、請求項1に記載のレーザー装置。
- 前記アレイの少なくとも一つのVCSELが少なくとも二つの異なる形状を持つ発光領域を有する、請求項2に記載のレーザー装置。
- 各単一アレイのVCSELが同一形状の発光領域を有し、少なくとも二つのアレイの前記発光領域の形状が互いに異なる、請求項2に記載のレーザー装置。
- 各アレイにおいて少なくとも一方向における前記VCSELの発光領域の直径が10μm以下であり、前記発光領域間の最小距離が20μm以上である、請求項2に記載のレーザー装置。
- 前記イメージング光学系が、前記アレイの重ね合わせ画像が前記イメージング空間において少なくとも第一の方向に互いに対してわずかにシフトされるように構成される、請求項1に記載のレーザー装置。
- 前記イメージング光学系が、前記アレイの重ね合わせ画像を前記イメージング空間における前記第一の方向に圧迫するように構成され、前記圧迫が前記第一の方向及び前記第一の方向と垂直な第二の方向の両方向にビームスポットの実質的に均等な密度を達成するように選択される、請求項6に記載のレーザー装置。
- 異なるアレイの連続的スイッチングのための制御ユニットをさらに有する、請求項1に記載のレーザー装置。
- 前記光パターンが投影される前記画像空間におけるシーンの画像をとるように構成されるカメラをさらに有する、請求項1に記載のレーザー装置。
- シーンの三次元認識若しくは三次元検出のための請求項1乃至9のいずれか一項に記載のレーザー装置の使用。
- 車両環境の検出のための請求項10に記載の使用。
- 産業生産若しくは物流領域におけるシーンの三次元認識のための請求項10に記載の使用。
- ユーザーインターフェースのための請求項10に記載の使用。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261731037P | 2012-11-29 | 2012-11-29 | |
US61/731,037 | 2012-11-29 | ||
PCT/IB2013/060325 WO2014083485A1 (en) | 2012-11-29 | 2013-11-22 | Laser device for projecting a structured light pattern onto a scene |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016507886A JP2016507886A (ja) | 2016-03-10 |
JP2016507886A5 JP2016507886A5 (ja) | 2017-08-17 |
JP6270863B2 true JP6270863B2 (ja) | 2018-01-31 |
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JP2015544580A Expired - Fee Related JP6270863B2 (ja) | 2012-11-29 | 2013-11-22 | 構造化光パターンをシーンに投影するためのレーザー装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10386178B2 (ja) |
EP (1) | EP2926422B1 (ja) |
JP (1) | JP6270863B2 (ja) |
CN (1) | CN104798271B (ja) |
BR (1) | BR112015012073A2 (ja) |
RU (1) | RU2655475C2 (ja) |
WO (1) | WO2014083485A1 (ja) |
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CN104798271A (zh) | 2015-07-22 |
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