JP7074875B2 - Lidar測定システム - Google Patents
Lidar測定システム Download PDFInfo
- Publication number
- JP7074875B2 JP7074875B2 JP2020552103A JP2020552103A JP7074875B2 JP 7074875 B2 JP7074875 B2 JP 7074875B2 JP 2020552103 A JP2020552103 A JP 2020552103A JP 2020552103 A JP2020552103 A JP 2020552103A JP 7074875 B2 JP7074875 B2 JP 7074875B2
- Authority
- JP
- Japan
- Prior art keywords
- lidar
- emitter
- measurement system
- elements
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims description 64
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000003287 optical effect Effects 0.000 description 41
- 238000013507 mapping Methods 0.000 description 32
- 230000000875 corresponding effect Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000002596 correlated effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 239000007787 solid Substances 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000002950 deficient Effects 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Images
Classifications
-
- 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
- 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
- G01S7/481—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
- G01S7/4861—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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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)
- Measurement Of Optical Distance (AREA)
Description
10 LIDAR測定システム
12 LIDAR受信ユニット
14 LIDAR送信ユニット
16 受信光学系
18 送信光学系
20 対象物
22 エミッタ素子、VCSEL
24 レーザ光、パルス
25 ビーム
26 センサ素子
28 読出しユニット
30 評価ユニット
32 制御ユニット
34 接続
36 円、レーザ光
38 円、入射するレーザ光の境界
I、II、III マクロ・セル、エミッタ素子列
i、ii、iii センサ素子列
A、B、C マクロ・セル、エミッタ素子行
a、b、c センサ素子行
d 距離
D 距離
α 角度
sr マクロ・セル、センサ素子列方向
SR エミッタ素子列方向
Claims (10)
- LIDAR送信ユニット(14)及びLIDAR受信ユニット(12)を有する、焦点面アレイ配置で構成されるLIDAR測定システム(10)であって、
前記LIDAR受信ユニット(12)が複数のセンサ素子(26)を有し、
前記LIDAR送信ユニット(14)が複数のエミッタ素子(22)を有し、
複数のセンサ素子(26)がマクロ・セル(1、2、3、4)を形成し、前記マクロ・セル(1、2、3、4)が単一のエミッタ素子(22)と関連付けられ、
二つの隣接するエミッタ素子(22)の間の距離(D)は、二つの隣接するセンサ素子(26)の間の距離(d)の整数倍と一致しない、
ことを特徴とする、LIDAR測定システム(10)。 - 前記エミッタ素子(22)及び前記マクロ・セル(1、2、3、4)がそれぞれ、ある種の行-列配置で離隔して配置され、
前記センサ素子(26)が同様にある種の行-列配置で配置される、
ことを特徴とする請求項1に記載のLIDAR測定システム(10)。 - 前記エミッタ素子(22)及び前記マクロ・セル(1、2、3、4)がそれぞれ、ある種の行-列配置で離隔して配置され、
前記センサ素子(26)が同様にある種の行-列配置で配置される、
ことを特徴とし、
複数の隣接するマクロ・セル(1、2、3、4)のうちでセンサ素子(26)の共通する行の数は、関連するエミッタ素子(22)の整数倍と一致しない、
ことを特徴とする請求項1に記載のLIDAR測定システム(10)。 - 多数の行のN個のエミッタ素子(22)及び多数の行の関連するN個のマクロ・セル(1、2、3、4)が存在する場合、前記N個のマクロ・セル(1、2、3、4)のセンサ素子(26)の行の数が、(m・N)+kによって決定され、
ここで、mが自然数であり、kが1とN-1の間の整数である、
ことを特徴とする請求項3に記載のLIDAR測定システム(10)。 - 奇数番目の隣接するセンサ素子(26)がオフセットを有し、偶数番目の隣接するセンサ素子(26)がオフセットを有さない、
ことを特徴とする請求項1乃至4のいずれか一項に記載のLIDAR測定システム(10)。 - 列方向に隣接するセンサ素子(26)が行方向のオフセットを有する、
ことを特徴とする請求項1乃至5のいずれか一項に記載のLIDAR測定システム(10)。 - 行方向に隣接するセンサ素子(26)が列方向に配向されたオフセットを有する、
ことを特徴とする請求項1乃至6のいずれか一項に記載のLIDAR測定システム(10)。 - 前記LIDAR送信ユニット(14)のエミッタ素子(22)の列及び前記LIDAR受信ユニット(12)のセンサ素子(26)の列が、互いに平行になるように、或いは互いに対して角度αを有するように構成される、
ことを特徴とする請求項1乃至7のいずれか一項に記載のLIDAR測定システム(10)。 - 前記角度αが0°から45°の間であり、2°から10°の間であることが好ましい、
ことを特徴とする請求項8に記載のLIDAR測定システム(10)。 - 請求項1乃至9のいずれか一項に記載のLIDAR測定システム(10)に用いられるLIDAR受信ユニット(12)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017222970.5 | 2017-12-15 | ||
DE102017222970.5A DE102017222970A1 (de) | 2017-12-15 | 2017-12-15 | LIDAR Messsystem |
PCT/EP2018/081598 WO2019115151A1 (de) | 2017-12-15 | 2018-11-16 | Lidar messsystem |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021507262A JP2021507262A (ja) | 2021-02-22 |
JP7074875B2 true JP7074875B2 (ja) | 2022-05-24 |
Family
ID=64332328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020552103A Active JP7074875B2 (ja) | 2017-12-15 | 2018-11-16 | Lidar測定システム |
Country Status (9)
Country | Link |
---|---|
US (1) | US11686822B2 (ja) |
EP (1) | EP3724681B1 (ja) |
JP (1) | JP7074875B2 (ja) |
KR (1) | KR102444307B1 (ja) |
CN (1) | CN111684303B (ja) |
CA (1) | CA3091048C (ja) |
DE (1) | DE102017222970A1 (ja) |
IL (1) | IL275324B2 (ja) |
WO (1) | WO2019115151A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102019209697A1 (de) * | 2019-07-02 | 2021-01-07 | Ibeo Automotive Systems GmbH | Lidar-Empfangseinheit |
DE102020110052A1 (de) * | 2020-04-09 | 2021-10-14 | Hybrid Lidar Systems Ag | Vorrichtung zur erfassung von bilddaten |
US20220050183A1 (en) * | 2020-08-12 | 2022-02-17 | Beijing Voyager Technology Co., Ltd. | Intertwined detector array for an optical sensing system |
KR20220079815A (ko) * | 2020-12-03 | 2022-06-14 | 레이선 인텔리전트 시스템 컴퍼니., 리미티드. | 레이저 레이더 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009192499A (ja) | 2008-02-18 | 2009-08-27 | Stanley Electric Co Ltd | 距離画像生成装置 |
WO2014207983A1 (ja) | 2013-06-27 | 2014-12-31 | パナソニックIpマネジメント株式会社 | 距離測定装置 |
JP2015227781A (ja) | 2014-05-30 | 2015-12-17 | 株式会社デンソー | 光飛行型測距装置 |
US20160178991A1 (en) | 2014-12-22 | 2016-06-23 | Google Inc. | Smart illumination time of flight system and method |
JP2016188808A (ja) | 2015-03-30 | 2016-11-04 | 竹前 義博 | レンジセンサとその部品 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS646716A (en) * | 1987-06-27 | 1989-01-11 | Suzuki Motor Co | Displacement measuring apparatus |
EP1442319B1 (de) * | 2001-11-08 | 2006-08-09 | Siemens Aktiengesellschaft | Entfernungsmessendes laserlichtgitter |
DE102005062539A1 (de) * | 2005-12-27 | 2007-07-05 | Robert Bosch Gmbh | Verfahren zur Kalibrierung eines Sensorsystems |
KR101483462B1 (ko) * | 2008-08-27 | 2015-01-16 | 삼성전자주식회사 | 깊이 영상 획득 장치 및 방법 |
DE102009029372A1 (de) * | 2009-09-11 | 2011-03-24 | Robert Bosch Gmbh | Messvorrichtung zur Messung einer Entfernung zwischen der Messvorrichtung und einem Zielobjekt mit Hilfe optischer Messstrahlung |
KR101904033B1 (ko) * | 2010-10-27 | 2018-10-04 | 코넬 유니버시티 | 광 필드 이미지 센서, 방법들 및 응용들 |
BR112014004612A2 (pt) * | 2011-08-26 | 2017-05-16 | Trilumina Corp | comunicações ópticas em espaço livre em alta velocidade |
US9658322B2 (en) * | 2014-03-13 | 2017-05-23 | Garmin Switzerland Gmbh | LIDAR optical scanner system |
KR20230042386A (ko) * | 2014-08-15 | 2023-03-28 | 에이아이, 아이엔씨. | 레이더 전송을 위한 방법 및 시스템 |
EP3168641B1 (de) | 2015-11-11 | 2020-06-03 | Ibeo Automotive Systems GmbH | Verfahren und vorrichtung zur optischen distanzmessung |
US10598785B2 (en) * | 2016-02-11 | 2020-03-24 | California Institute Of Technology | Hybrid transmitter receiver optical imaging system |
US20180341009A1 (en) * | 2016-06-23 | 2018-11-29 | Apple Inc. | Multi-range time of flight sensing |
CN106443584A (zh) * | 2016-08-31 | 2017-02-22 | 青岛海信宽带多媒体技术有限公司 | 一种位置确定的方法及装置 |
CN110603461B (zh) * | 2017-05-11 | 2021-10-22 | 华为技术有限公司 | 飞行时间设备 |
US10830879B2 (en) * | 2017-06-29 | 2020-11-10 | Apple Inc. | Time-of-flight depth mapping with parallax compensation |
US11585906B2 (en) * | 2018-12-26 | 2023-02-21 | Ouster, Inc. | Solid-state electronic scanning laser array with high-side and low-side switches for increased channels |
-
2017
- 2017-12-15 DE DE102017222970.5A patent/DE102017222970A1/de active Pending
-
2018
- 2018-11-16 CA CA3091048A patent/CA3091048C/en active Active
- 2018-11-16 IL IL275324A patent/IL275324B2/en unknown
- 2018-11-16 JP JP2020552103A patent/JP7074875B2/ja active Active
- 2018-11-16 KR KR1020207020425A patent/KR102444307B1/ko active IP Right Grant
- 2018-11-16 EP EP18804315.2A patent/EP3724681B1/de active Active
- 2018-11-16 CN CN201880080666.9A patent/CN111684303B/zh active Active
- 2018-11-16 US US16/772,965 patent/US11686822B2/en active Active
- 2018-11-16 WO PCT/EP2018/081598 patent/WO2019115151A1/de unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009192499A (ja) | 2008-02-18 | 2009-08-27 | Stanley Electric Co Ltd | 距離画像生成装置 |
WO2014207983A1 (ja) | 2013-06-27 | 2014-12-31 | パナソニックIpマネジメント株式会社 | 距離測定装置 |
JP2015227781A (ja) | 2014-05-30 | 2015-12-17 | 株式会社デンソー | 光飛行型測距装置 |
US20160178991A1 (en) | 2014-12-22 | 2016-06-23 | Google Inc. | Smart illumination time of flight system and method |
JP2016188808A (ja) | 2015-03-30 | 2016-11-04 | 竹前 義博 | レンジセンサとその部品 |
Also Published As
Publication number | Publication date |
---|---|
US11686822B2 (en) | 2023-06-27 |
WO2019115151A1 (de) | 2019-06-20 |
CA3091048C (en) | 2024-06-04 |
CA3091048A1 (en) | 2019-06-20 |
DE102017222970A1 (de) | 2019-06-19 |
IL275324B2 (en) | 2023-09-01 |
IL275324B1 (en) | 2023-05-01 |
CN111684303A (zh) | 2020-09-18 |
CN111684303B (zh) | 2023-08-22 |
JP2021507262A (ja) | 2021-02-22 |
US20210080548A1 (en) | 2021-03-18 |
KR102444307B1 (ko) | 2022-09-19 |
IL275324A (en) | 2020-07-30 |
EP3724681A1 (de) | 2020-10-21 |
EP3724681B1 (de) | 2024-05-22 |
KR20210002449A (ko) | 2021-01-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7074875B2 (ja) | Lidar測定システム | |
CA3085797C (en) | Lidar receiving unit | |
KR102604902B1 (ko) | 펄스형 빔들의 희소 어레이를 사용하는 깊이 감지 | |
CN215932142U (zh) | 激光雷达 | |
CN110018488B (zh) | 受光元件、飞行时间测量装置及光雷达装置 | |
JP6682569B2 (ja) | 光電センサ及び物体検出方法 | |
US6301003B1 (en) | Optical distance measuring apparatus selectively activating a matrix of light sensitive cells | |
JP7074874B2 (ja) | Lidar受信ユニットのローカル及びリモート検出を改善する方法 | |
ES2389734T3 (es) | Dispositivo de medición de posición | |
KR20220038691A (ko) | 고-해상도 솔리드-상태 lidar 송신기 | |
US11366225B2 (en) | Active-pixel sensor array | |
JP2021534415A (ja) | 視野の光学捕捉のためのlidarセンサ、lidarセンサを備えた作動装置または車両、および視野の光学捕捉のための方法 | |
CN107490339A (zh) | 光学位置测量装置 | |
US20210173059A1 (en) | Lidar sensor | |
JP2020063970A (ja) | 投受光装置及び測距装置 | |
JP7238928B2 (ja) | 光検出器および測距装置 | |
JP7310859B2 (ja) | 光検出器および測距装置 | |
KR102564655B1 (ko) | Lidar 시스템용 레이저 스캐너 및 레이저 스캐너의 작동 방법 | |
JP2020134313A (ja) | 光検出器 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20200814 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200806 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20200814 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210624 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210714 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20211012 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20211201 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220419 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220512 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7074875 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313113 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |