JP6522383B2 - レーザレーダ装置及び走行体 - Google Patents
レーザレーダ装置及び走行体 Download PDFInfo
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- JP6522383B2 JP6522383B2 JP2015060070A JP2015060070A JP6522383B2 JP 6522383 B2 JP6522383 B2 JP 6522383B2 JP 2015060070 A JP2015060070 A JP 2015060070A JP 2015060070 A JP2015060070 A JP 2015060070A JP 6522383 B2 JP6522383 B2 JP 6522383B2
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- 238000005259 measurement Methods 0.000 claims description 93
- 230000003287 optical effect Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 8
- 230000004907 flux Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000001678 irradiating effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000000007 visual 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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
-
- 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
- G01S7/4816—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
- G01S7/481—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
- G01S7/483—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
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B19/00—Condensers, e.g. light collectors or similar non-imaging optics
- G02B19/0004—Condensers, e.g. light collectors or similar non-imaging optics characterised by the optical means employed
- G02B19/0009—Condensers, e.g. light collectors or similar non-imaging optics characterised by the optical means employed having refractive surfaces only
- G02B19/0014—Condensers, e.g. light collectors or similar non-imaging optics characterised by the optical means employed having refractive surfaces only at least one surface having optical power
-
- 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
- G02B26/101—Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/095—Refractive optical elements
- G02B27/0955—Lenses
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Mechanical Optical Scanning Systems (AREA)
Description
11 レーザ光源
12 送光側レンズ
13 スキャナ
14 水平走査部
15 垂直走査部
16 受光側レンズ
17 受光側光学系
18 受光素子
18A 受光面
21 情報生成部
30 光源制御部
31 スキャナ制御部
35 リレーレンズ
36 集光レンズ
100 列車(走行体)
150 車両(走行体)
180 ライン状受光素子
180a 単一ピクセル
181 受光素子群
A 計測対象エリア
L レーザ光
R 反射光
S 計測点
X 水平方向(第1方向)
Y 垂直方向(第2方向)
Claims (4)
- レーザ光源と、
前記レーザ光源から発光されるレーザ光を点状に成形する送光側レンズと、
前記点状に成形された前記レーザ光を、計測対象エリアの第1方向及び該第1方向に直交する第2方向に走査させながら照射するスキャナと、
前記計測対象エリアから反射される反射光を受光する受光側レンズと、
前記受光側レンズで受光された前記反射光を、前記第1方向及び前記第2方向にそれぞれ集光する受光側光学系と、
前記受光側光学系で集光された前記反射光を受光し、受光した前記反射光に含まれるレーザ光に基づいた受信信号を出力する受光部と、
前記受光部が出力した前記受信信号に基づき、前記計測対象エリアの3次元情報を生成する情報生成部と、を備え、
前記受光側光学系は、前記スキャナの走査に応じて、前記計測対象エリア全体からの反射光を受光する前記受光側レンズの結像位置付近、または後方に配置され、前記受光側レンズが結像する前記計測対象エリア全体を含む結像情報のすべてを前記受光部に向けて伝送するリレーレンズと、前記リレーレンズから伝送された光束を前記受光部に向けて集光させる集光レンズと、を備えたことを特徴とするレーザレーダ装置。 - 前記受光部は、単一の受光素子を有することを特徴とする請求項1に記載のレーザレーダ装置。
- 前記情報生成部は、前記レーザ光が照射されてから前記受光部で受光されるまでの光往復時間から取得された計測対象エリアまでの距離情報と、前記レーザ光を照射した際の前記スキャナの送光制御角度に基づき取得された前記第1方向及び前記第2方向の各位置情報とから前記計測対象エリアの3次元情報を生成することを特徴とする請求項1または2に記載のレーザレーダ装置。
- 請求項1から3のいずれか一項に記載のレーザレーダ装置を備えることを特徴とする走行体。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015060070A JP6522383B2 (ja) | 2015-03-23 | 2015-03-23 | レーザレーダ装置及び走行体 |
PCT/JP2015/082562 WO2016151938A1 (ja) | 2015-03-23 | 2015-11-19 | レーザレーダ装置及び走行体 |
SG11201706757WA SG11201706757WA (en) | 2015-03-23 | 2015-11-19 | Laser radar device and traveling body |
US15/553,247 US10534085B2 (en) | 2015-03-23 | 2015-11-19 | Laser radar device and traveling body |
CN201580076971.7A CN107407722B (zh) | 2015-03-23 | 2015-11-19 | 激光雷达装置以及行驶体 |
EP15886490.0A EP3252497A4 (en) | 2015-03-23 | 2015-11-19 | Laser radar device and traveling body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015060070A JP6522383B2 (ja) | 2015-03-23 | 2015-03-23 | レーザレーダ装置及び走行体 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016180623A JP2016180623A (ja) | 2016-10-13 |
JP2016180623A5 JP2016180623A5 (ja) | 2018-04-26 |
JP6522383B2 true JP6522383B2 (ja) | 2019-05-29 |
Family
ID=56977945
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015060070A Active JP6522383B2 (ja) | 2015-03-23 | 2015-03-23 | レーザレーダ装置及び走行体 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10534085B2 (ja) |
EP (1) | EP3252497A4 (ja) |
JP (1) | JP6522383B2 (ja) |
CN (1) | CN107407722B (ja) |
SG (1) | SG11201706757WA (ja) |
WO (1) | WO2016151938A1 (ja) |
Families Citing this family (21)
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CA2892952C (en) | 2015-01-19 | 2019-10-15 | Tetra Tech, Inc. | Protective shroud |
US10349491B2 (en) | 2015-01-19 | 2019-07-09 | Tetra Tech, Inc. | Light emission power control apparatus and method |
US9849895B2 (en) | 2015-01-19 | 2017-12-26 | Tetra Tech, Inc. | Sensor synchronization apparatus and method |
CA2892885C (en) | 2015-02-20 | 2020-07-28 | Tetra Tech, Inc. | 3d track assessment system and method |
KR101877388B1 (ko) * | 2016-07-21 | 2018-07-11 | 엘지전자 주식회사 | 차량용 라이다 장치 |
JP7043738B2 (ja) * | 2017-04-20 | 2022-03-30 | 株式会社Ihi | 対象物検知システム |
WO2019171726A1 (ja) * | 2018-03-08 | 2019-09-12 | パナソニックIpマネジメント株式会社 | レーザレーダ |
CN108427933B (zh) * | 2018-03-23 | 2024-01-05 | 王雪燕 | 一种用于激光清障的识别系统及识别方法 |
JP2019191126A (ja) * | 2018-04-27 | 2019-10-31 | シャープ株式会社 | 光レーダ装置 |
CN110456327A (zh) * | 2018-05-08 | 2019-11-15 | 探维科技(北京)有限公司 | 激光雷达接收装置及激光雷达系统 |
US11377130B2 (en) | 2018-06-01 | 2022-07-05 | Tetra Tech, Inc. | Autonomous track assessment system |
US10730538B2 (en) | 2018-06-01 | 2020-08-04 | Tetra Tech, Inc. | Apparatus and method for calculating plate cut and rail seat abrasion based on measurements only of rail head elevation and crosstie surface elevation |
US10807623B2 (en) | 2018-06-01 | 2020-10-20 | Tetra Tech, Inc. | Apparatus and method for gathering data from sensors oriented at an oblique angle relative to a railway track |
US10625760B2 (en) | 2018-06-01 | 2020-04-21 | Tetra Tech, Inc. | Apparatus and method for calculating wooden crosstie plate cut measurements and rail seat abrasion measurements based on rail head height |
US11604260B2 (en) * | 2018-11-19 | 2023-03-14 | Baidu Usa Llc | LIDAR device with polygon-shape mirror and prism for autonomous driving vehicles |
CN111562587B (zh) * | 2019-02-14 | 2023-12-05 | 宁波舜宇车载光学技术有限公司 | 雷达装置及其发射端 |
CA3130193A1 (en) | 2019-05-16 | 2020-11-19 | Tetra Tech, Inc. | Autonomous track assessment system |
JP2020187079A (ja) * | 2019-05-17 | 2020-11-19 | 三菱重工業株式会社 | レーザレーダ装置及び走行体 |
CN112585488B (zh) * | 2019-07-29 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | 接收光学系统、激光接收模组、激光雷达和光调方法 |
CN110988858B (zh) * | 2019-11-11 | 2021-12-07 | 西安空间无线电技术研究所 | 一种双波束微波着陆雷达高精度测距方法及系统 |
CN113030912B (zh) * | 2019-12-09 | 2024-05-28 | 觉芯电子(无锡)有限公司 | 一种基于扫描振镜的激光雷达系统 |
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-
2015
- 2015-03-23 JP JP2015060070A patent/JP6522383B2/ja active Active
- 2015-11-19 CN CN201580076971.7A patent/CN107407722B/zh not_active Expired - Fee Related
- 2015-11-19 US US15/553,247 patent/US10534085B2/en not_active Expired - Fee Related
- 2015-11-19 WO PCT/JP2015/082562 patent/WO2016151938A1/ja active Application Filing
- 2015-11-19 EP EP15886490.0A patent/EP3252497A4/en not_active Withdrawn
- 2015-11-19 SG SG11201706757WA patent/SG11201706757WA/en unknown
Also Published As
Publication number | Publication date |
---|---|
US10534085B2 (en) | 2020-01-14 |
CN107407722B (zh) | 2020-07-28 |
US20180038957A1 (en) | 2018-02-08 |
CN107407722A (zh) | 2017-11-28 |
WO2016151938A1 (ja) | 2016-09-29 |
EP3252497A4 (en) | 2018-10-10 |
SG11201706757WA (en) | 2017-09-28 |
EP3252497A1 (en) | 2017-12-06 |
JP2016180623A (ja) | 2016-10-13 |
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