JP6679472B2 - 物体検出装置 - Google Patents
物体検出装置 Download PDFInfo
- Publication number
- JP6679472B2 JP6679472B2 JP2016246601A JP2016246601A JP6679472B2 JP 6679472 B2 JP6679472 B2 JP 6679472B2 JP 2016246601 A JP2016246601 A JP 2016246601A JP 2016246601 A JP2016246601 A JP 2016246601A JP 6679472 B2 JP6679472 B2 JP 6679472B2
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- Prior art keywords
- light
- unit
- mirror
- object detection
- detection device
- Prior art date
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- 238000001514 detection method Methods 0.000 title claims description 103
- 230000003287 optical effect Effects 0.000 description 31
- 239000000758 substrate Substances 0.000 description 29
- 238000003745 diagnosis Methods 0.000 description 9
- 238000004092 self-diagnosis Methods 0.000 description 6
- 238000000605 extraction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000009795 derivation Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 239000000463 material Substances 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
- G01S17/02—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
-
- 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
- G01S7/4817—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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
-
- 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
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
1b 故障検出部
2 LDモジュール(発光部)
4 回転走査部
4a、4a’ 鏡
4b、4b’ 反射面
7 PDモジュール(受光部)
15 ライトガイド(導光部)
15a 導入面
15b 導出面
100 物体検出装置
A 対象物を検出するために回転走査部により光を走査する範囲
LD レーザダイオード(発光素子)
PD フォトダイオード(受光素子)
Q 対象物
Claims (6)
- 発光素子を有する発光部と、
受光素子を有する受光部と、
鏡を有し、前記鏡を回転させることにより、前記発光部からの光を前記鏡で反射して所定範囲に走査し、該所定範囲にある対象物で反射した光を前記鏡で反射して前記受光部へ導く回転走査部と、
前記受光部から出力される受光信号に基づいて、対象物の有無を検出する物体検出部と、
前記発光部からの光を前記受光部に導く導光部と、
前記発光部の発光状態と前記導光部により導かれた前記光の前記受光部による受光状態とに基づいて、故障の有無を検出する故障検出部と、を備えた物体検出装置において、
前記鏡は、上下方向と平行な一対の反射面を有する両面鏡からなり、
前記物体検出部により対象物の有無を検出するときは、前記発光部からの光が、前記鏡の対象物側を向いた第1反射面で反射して前記所定範囲に走査されるとともに、対象物で反射した光が、前記第1反射面で反射して前記受光部へ導かれ、
前記故障検出部により故障の有無を検出するときは、前記発光部からの光が、前記第1反射面と反対側の第2反射面で反射して前記導光部へ入射し、当該導光部から出射した光が前記第2反射面で反射して前記受光部へ導かれる、ことを特徴とする物体検出装置。 - 請求項1に記載の物体検出装置において、
前記導光部は、前記鏡における前記発光部からの光の照射位置とは異なる位置に、受光した前記光を導出する、ことを特徴とする物体検出装置。 - 請求項1または請求項2に記載の物体検出装置において、
前記導光部は、前記発光部からの光が前記鏡で反射した光のうち、前記対象物の検出範囲外に進む光を受光する、ことを特徴とする物体検出装置。 - 請求項1ないし請求項3のいずれかに記載の物体検出装置において、
前記導光部は、前記対象物を検出するために前記回転走査部により光を走査する範囲外に配置されている、ことを特徴とする物体検出装置。 - 請求項1ないし請求項4のいずれかに記載の物体検出装置において、
前記導光部は、前記鏡に対して前記対象物と反対側に配置されている、ことを特徴とする物体検出装置。 - 請求項1ないし請求項5のいずれかに記載の物体検出装置において、
前記導光部は、光を導入する導入面と、光を導出する導出面と、を有するライトガイドから成る、ことを特徴とする物体検出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016246601A JP6679472B2 (ja) | 2016-12-20 | 2016-12-20 | 物体検出装置 |
CN201711314195.7A CN108205125A (zh) | 2016-12-20 | 2017-12-12 | 物体检测装置 |
US15/849,380 US20180172808A1 (en) | 2016-12-20 | 2017-12-20 | Object detection device |
DE102017223340.0A DE102017223340A1 (de) | 2016-12-20 | 2017-12-20 | Objekterfassungsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016246601A JP6679472B2 (ja) | 2016-12-20 | 2016-12-20 | 物体検出装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018100880A JP2018100880A (ja) | 2018-06-28 |
JP6679472B2 true JP6679472B2 (ja) | 2020-04-15 |
Family
ID=62251261
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016246601A Expired - Fee Related JP6679472B2 (ja) | 2016-12-20 | 2016-12-20 | 物体検出装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20180172808A1 (ja) |
JP (1) | JP6679472B2 (ja) |
CN (1) | CN108205125A (ja) |
DE (1) | DE102017223340A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11391822B2 (en) * | 2018-11-30 | 2022-07-19 | Seagate Technology Llc | Rotating pyramidal mirror |
CN112945987B (zh) * | 2021-01-28 | 2024-03-19 | 维沃移动通信有限公司 | 导光组件及导光组件的检测方法 |
DE102021117818A1 (de) * | 2021-07-09 | 2023-01-12 | Sick Ag | Kamera zur Erfassung dreidimensionaler Bilddaten und Verfahren zur Überprüfung der Funktionsfähigkeit einer Kamera |
CN114176797B (zh) * | 2021-11-17 | 2023-08-18 | 上海微创医疗机器人(集团)股份有限公司 | 手术器械安装检测系统、手术器械和手术机器人 |
WO2024061834A1 (de) | 2022-09-23 | 2024-03-28 | Robert Bosch Gmbh | Verfahren zum betreiben eines lidar-sensorsystems |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06137867A (ja) * | 1992-10-29 | 1994-05-20 | Omron Corp | 距離計測装置におけるスキャン位置検出装置およびスキャン位置制御装置 |
JPH09318736A (ja) | 1996-05-30 | 1997-12-12 | Denso Corp | 距離測定装置 |
JPH1031064A (ja) | 1996-07-16 | 1998-02-03 | Omron Corp | 走査型レーザレーダ装置 |
JP2002031685A (ja) | 2000-07-17 | 2002-01-31 | Denso Corp | 反射測定装置 |
JP2009229255A (ja) * | 2008-03-24 | 2009-10-08 | Hokuyo Automatic Co | 走査式測距装置 |
JP5472572B2 (ja) * | 2009-01-27 | 2014-04-16 | 株式会社Ihi | レーザ距離測定装置 |
JP2010204015A (ja) * | 2009-03-05 | 2010-09-16 | Denso Wave Inc | レーザレーダ装置 |
JP5638345B2 (ja) * | 2010-10-27 | 2014-12-10 | 三菱電機株式会社 | レーザ画像計測装置 |
JP2014145744A (ja) * | 2013-01-30 | 2014-08-14 | Ricoh Co Ltd | 物体検出装置 |
JP6012589B2 (ja) * | 2013-12-27 | 2016-10-25 | オムロンオートモーティブエレクトロニクス株式会社 | レーザレーダ装置及び物体検出方法 |
DE102014110504A1 (de) | 2014-07-25 | 2016-01-28 | Valeo Schalter Und Sensoren Gmbh | Abtastende optoelektronische Messvorrichtung und Verwendung eines Heizleiters einer Abdeckscheibe einer optoelektronischen Messvorrichtung |
DE102014115260B3 (de) * | 2014-10-20 | 2015-11-12 | Sick Ag | Sicherheitssystem zur Absicherung der Umgebung eines Objekts |
-
2016
- 2016-12-20 JP JP2016246601A patent/JP6679472B2/ja not_active Expired - Fee Related
-
2017
- 2017-12-12 CN CN201711314195.7A patent/CN108205125A/zh not_active Withdrawn
- 2017-12-20 US US15/849,380 patent/US20180172808A1/en not_active Abandoned
- 2017-12-20 DE DE102017223340.0A patent/DE102017223340A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
CN108205125A (zh) | 2018-06-26 |
US20180172808A1 (en) | 2018-06-21 |
DE102017223340A1 (de) | 2018-06-21 |
JP2018100880A (ja) | 2018-06-28 |
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