JP6542987B2 - Lidarセンサ - Google Patents
Lidarセンサ Download PDFInfo
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- JP6542987B2 JP6542987B2 JP2018514446A JP2018514446A JP6542987B2 JP 6542987 B2 JP6542987 B2 JP 6542987B2 JP 2018514446 A JP2018514446 A JP 2018514446A JP 2018514446 A JP2018514446 A JP 2018514446A JP 6542987 B2 JP6542987 B2 JP 6542987B2
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- 230000003287 optical effect Effects 0.000 claims description 15
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 description 5
- 239000002245 particle Substances 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 5
- 241000533950 Leucojum Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000010287 polarization Effects 0.000 description 2
- 210000001747 pupil Anatomy 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
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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
-
- 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
- G01S7/4811—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
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G02B27/0944—Diffractive optical elements, e.g. gratings, holograms
-
- 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
- G02B27/0961—Lens arrays
-
- 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
- G02B27/0977—Reflective elements
-
- 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
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Measurement Of Optical Distance (AREA)
Description
Claims (17)
- 特に自動車のためのLIDARセンサであって、
光源(12)と、
該光源(12)から放出された光ビーム(14)を偏向することによって、監視スペース(36)を覆う走査ビーム(32)を生成するための可動の偏向ミラー(18)と、
監視スペース(36)内の物体(38)に走査ビーム(32)として入射し、反射された光を検出するための光学的な受信器(42;42a;42b;42e)と、
を備えるLIDARセンサにおいて、
光源(12)および偏向ミラー(18)が、偏向された光ビーム(26)によってマイクロ光学素子(22;22a;22c)のフィールド(20;20a;20c;20f)を走査するように調整されており、それぞれのマイクロ光学素子が、光ビームによって入射された場合に光ビームを発散性のビーム(28)として拡大し、
マイクロ光学素子のフィールド(20;20a;20c;20f)に対して間隔をおいて、光収束素子(30)が配置されており、該光収束素子(30)が発散性のビーム(28)を、走査ビーム(32)を形成するビームとなるように変形し、該ビームのビーム直径が、偏向されたビーム(26)のビーム直径よりも大きいこと、
を特徴とするLIDARセンサ。 - 請求項1に記載のLIDARセンサにおいて、
前記マイクロ光学素子(22)がマイクロレンズであるLIDARセンサ。 - 請求項1に記載のLIDARセンサにおいて、
前記マイクロ光学素子(22a)が反射性の素子であるLIDARセンサ。 - 請求項1に記載のLIDARセンサにおいて、
前記マイクロ光学素子(22c)が、光を回折する素子であるLIDARセンサ。 - 請求項1〜4のいずれか一項に記載のLIDARセンサにおいて、
結像レンズ(16)を備え、該結像レンズ(16)によって、前記光源(12)から放出された前記光ビーム(14)が、前記偏向ミラー(18)を介してマイクロ光学素子の前記フィールド(20;20a)に焦点合わせされるLIDARセンサ。 - 請求項1〜5のいずれか一項に記載のLIDARセンサにおいて、
放出された前記光ビーム(14)および偏向された前記光ビーム(26)が最大で5mmの直径を有し、前記光収束素子(30)が少なくとも15mmの直径を有するLIDARセンサ。 - 請求項1〜6のいずれか一項に記載のLIDARセンサにおいて、
前記光収束素子(30)が、同時に前記受信器(42a;42b;42e)の対物レンズを形成しているLIDARセンサ。 - 請求項7に記載のLIDARセンサにおいて、
受信した光を受信器の画像センサ(46a;46b;46e)に向けて偏向するために、前記光源(12)と前記光収束素子(30)との間の光路にビームスプリッタ(50;50b;50e)を備えるLIDARセンサ。 - 請求項8に記載のLIDARセンサにおいて、
前記ビームスプリッタ(50)が、マイクロ光学素子の前記フィールド(20a)と前記光収束素子(30)との間に配置されているLIDARセンサ。 - 請求項8に記載のLIDARセンサにおいて、
前記ビームスプリッタ(50b)が前記光源(12)と前記偏向ミラー(18)との間に配置されているLIDARセンサ。 - 請求項8に記載のLIDARセンサにおいて、
前記ビームスプリッタ(50e)が前記偏向ミラー(18)とマイクロ光学素子の前記フィールド(20)との間に配置されているLIDARセンサ。 - 請求項1〜11のいずれか一項に記載のLIDARセンサにおいて、
前記受信器(42b;42e)が、受信され、前記光収束素子(30)によってあらかじめ焦点合わせされた光を画像センサ(46b;46e)に焦点合わせするためのレンズ(16;16e)を備えるLIDARセンサ。 - 請求項12に記載のLIDARセンサにおいて、
前記受信器(46e)の前記レンズ(16e)および前記光収束素子(30)が共通の光軸を有し、ビームスプリッタ(50e)が、前記偏向ミラー(18)から入射した光を、前記光収束素子(30)に向けて偏向し、受信された光を前記受信器(42)に分離するLIDARセンサ。 - 請求項13に記載のLIDARセンサにおいて、
ビームスプリッタがマイクロ光学素子の前記フィールド(20f)によって形成されるLIDARセンサ。 - 請求項1〜14のいずれか一項に記載のLIDARセンサにおいて、
マイクロ光学素子の前記フィールド(20c)がアーチ状になっているLIDARセンサ。 - 請求項1〜15のいずれか一項に記載のLIDARセンサにおいて、
前記光収束素子(30)の光軸にミラー(52;52d)が配置されており、該ミラーが、前記偏向ミラー(18)によって偏向されたビームをマイクロ光学素子の前記フィールド(20;20c)に向けて偏向するLIDARセンサ。 - 請求項16に記載のLIDARセンサにおいて、
前記ミラー(52d)がアーチ状になっているLIDARセンサ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015217908.7 | 2015-09-18 | ||
DE102015217908.7A DE102015217908A1 (de) | 2015-09-18 | 2015-09-18 | Lidarsensor |
PCT/EP2016/067734 WO2017045816A1 (de) | 2015-09-18 | 2016-07-26 | Lidarsensor |
Publications (2)
Publication Number | Publication Date |
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JP2018529102A JP2018529102A (ja) | 2018-10-04 |
JP6542987B2 true JP6542987B2 (ja) | 2019-07-10 |
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Application Number | Title | Priority Date | Filing Date |
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JP2018514446A Active JP6542987B2 (ja) | 2015-09-18 | 2016-07-26 | Lidarセンサ |
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US (1) | US10996322B2 (ja) |
EP (1) | EP3350615B1 (ja) |
JP (1) | JP6542987B2 (ja) |
KR (1) | KR20180053376A (ja) |
CN (1) | CN108027425B (ja) |
DE (1) | DE102015217908A1 (ja) |
WO (1) | WO2017045816A1 (ja) |
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CN108027425A (zh) | 2018-05-11 |
CN108027425B (zh) | 2022-04-08 |
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