SG10202106035XA - Light detection and ranging (lidar) device with an off-axis receiver - Google Patents

Light detection and ranging (lidar) device with an off-axis receiver

Info

Publication number
SG10202106035XA
SG10202106035XA SG10202106035XA SG10202106035XA SG10202106035XA SG 10202106035X A SG10202106035X A SG 10202106035XA SG 10202106035X A SG10202106035X A SG 10202106035XA SG 10202106035X A SG10202106035X A SG 10202106035XA SG 10202106035X A SG10202106035X A SG 10202106035XA
Authority
SG
Singapore
Prior art keywords
lidar
ranging
light detection
axis receiver
receiver
Prior art date
Application number
SG10202106035XA
Other languages
English (en)
Inventor
Pierre-Yves Droz
Simon Verghese
Original Assignee
Waymo Llc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Waymo Llc filed Critical Waymo Llc
Publication of SG10202106035XA publication Critical patent/SG10202106035XA/en

Links

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
    • 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
    • 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
    • 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
    • G01S17/04—Systems determining the presence of a target
    • 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
    • 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
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • 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
    • 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
    • G01S7/4861—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
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
SG10202106035XA 2016-12-31 2017-12-13 Light detection and ranging (lidar) device with an off-axis receiver SG10202106035XA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US15/396,476 US10520592B2 (en) 2016-12-31 2016-12-31 Light detection and ranging (LIDAR) device with an off-axis receiver

Publications (1)

Publication Number Publication Date
SG10202106035XA true SG10202106035XA (en) 2021-07-29

Family

ID=62710537

Family Applications (1)

Application Number Title Priority Date Filing Date
SG10202106035XA SG10202106035XA (en) 2016-12-31 2017-12-13 Light detection and ranging (lidar) device with an off-axis receiver

Country Status (8)

Country Link
US (3) US10520592B2 (fr)
EP (1) EP3538928A4 (fr)
JP (2) JP6888092B2 (fr)
KR (2) KR102316612B1 (fr)
CN (1) CN110114694B (fr)
CA (1) CA3047534C (fr)
SG (1) SG10202106035XA (fr)
WO (1) WO2018125573A1 (fr)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10520592B2 (en) 2016-12-31 2019-12-31 Waymo Llc Light detection and ranging (LIDAR) device with an off-axis receiver
CN108732603B (zh) * 2017-04-17 2020-07-10 百度在线网络技术（北京）有限公司 用于定位车辆的方法和装置
US10416679B2 (en) * 2017-06-27 2019-09-17 GM Global Technology Operations LLC Method and apparatus for object surface estimation using reflections delay spread
US10447973B2 (en) * 2017-08-08 2019-10-15 Waymo Llc Rotating LIDAR with co-aligned imager
US10775485B2 (en) * 2017-10-20 2020-09-15 Korea Electronics Technology Institute LIDAR device and system comprising the same
DE102018202303B4 (de) * 2018-02-15 2022-06-15 Robert Bosch Gmbh Sensorsystem zum Anbringen einer Sensoranordnung an einem Fahrzeug
US20200341149A1 (en) * 2018-05-31 2020-10-29 Indoor Robotics Ltd. Rotatable mobile robot for mapping an area and a method for mapping the same
US10751875B2 (en) * 2018-05-31 2020-08-25 Indoor Robotics Ltd Rotatable mobile robot for mapping an area and a method for mapping the same
US11609314B2 (en) 2018-08-02 2023-03-21 Uatc, Llc Lidar system design to mitigate Lidar cross-talk
US20200150238A1 (en) * 2018-11-13 2020-05-14 Continental Automotive Systems, Inc. Non-interfering long- and short-range lidar systems
US10401480B1 (en) * 2018-12-05 2019-09-03 Luminar Technologies, Inc. Lidar receiver with multiple detectors for range-ambiguity mitigation
US11709231B2 (en) 2018-12-21 2023-07-25 Infineon Technologies Ag Real time gating and signal routing in laser and detector arrays for LIDAR application
DE102019105478A1 (de) * 2019-03-05 2020-09-10 Infineon Technologies Ag LIDAR-Sensoren und Verfahren für dieselben
EP3914929A4 (fr) * 2019-03-05 2022-11-02 Waymo LLC Procédés et systèmes permettant de détecter la dégradation d'une précision de mesure de plage de lidar
CN111751838A (zh) * 2019-03-28 2020-10-09 上海小瞳智能科技有限公司 一种微型固态激光雷达及其数据处理方法
WO2020201832A1 (fr) * 2019-04-02 2020-10-08 Innoviz Technologies Ltd. Système et procédé de repositionnement d'un déflecteur de lumière
CN110363695B (zh) * 2019-07-01 2023-03-31 深圳勇艺达机器人有限公司 一种基于机器人的人群队列控制方法及装置
US11137485B2 (en) * 2019-08-06 2021-10-05 Waymo Llc Window occlusion imager near focal plane
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror
KR102609619B1 (ko) * 2019-10-08 2023-12-05 주식회사 라이드로 라이다 광학 장치
CN110865354A (zh) * 2019-11-06 2020-03-06 深圳市速腾聚创科技有限公司 闪光雷达和探测方法
CN111175769B (zh) * 2020-02-14 2022-05-27 深圳奥锐达科技有限公司 一种离轴扫描距离测量系统
EP4155763A1 (fr) 2020-05-22 2023-03-29 SOS Lab Co., Ltd. Dispositif lidar
KR102633680B1 (ko) * 2020-05-22 2024-02-05 주식회사 에스오에스랩 라이다 장치
WO2022016277A1 (fr) 2020-07-21 2022-01-27 Leddartech Inc. Systèmes et procédés pour lidar grand angle faisant appel à une optique de grossissement non uniforme
EP4185892A1 (fr) 2020-07-21 2023-05-31 Leddartech Inc. Dispositifs et procédés de direction de faisceau d'applications lidar
US11567179B2 (en) 2020-07-21 2023-01-31 Leddartech Inc. Beam-steering device particularly for LIDAR systems
KR102486473B1 (ko) * 2020-08-20 2023-01-09 주식회사 오토센스 차량용 스캐닝 라이다 광학계 및 그를 포함하는 차량용 스캐닝 라이다
EP3982151B1 (fr) 2020-10-06 2023-06-28 Yandex Self Driving Group Llc Systèmes et procédés de détection lidar
US11454709B2 (en) * 2020-11-23 2022-09-27 Ours Technology, Llc Optical coupler for LIDAR sensor
US11982765B2 (en) * 2021-02-02 2024-05-14 Microvision, Inc. Scanning laser devices and methods with detectors for sensing low energy reflections

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI94559C (fi) * 1992-07-30 1995-09-25 Vaisala Oy Menetelmä ja laitteisto ilmakehän näkyvyyden ja valosironnan mittaamiseksi, jossa laitteistossa lähetykselle ja vastaanotolle käytetään yhteistä optiikkaa
JPH07182600A (ja) 1993-12-22 1995-07-21 Nissan Motor Co Ltd 車両用距離検出装置
FI98766C (fi) * 1994-01-11 1997-08-11 Vaisala Oy Laite ja menetelmä näkyvyyden ja vallitsevan sään mittaamiseksi
JPH07325152A (ja) 1994-05-31 1995-12-12 Nikon Corp 距離測定装置
JP3185547B2 (ja) * 1994-06-28 2001-07-11 三菱電機株式会社 距離測定装置
JPH10111360A (ja) 1996-10-03 1998-04-28 Suzuki Motor Corp 車間距離測定装置
US7979173B2 (en) * 1997-10-22 2011-07-12 Intelligent Technologies International, Inc. Autonomous vehicle travel control systems and methods
EP1273928A1 (fr) * 2001-07-06 2003-01-08 Leica Geosystems AG Procédé et dispositif pour la suppression de rayonnement d'arrière-plan électromagnétique dans une image
US6556282B2 (en) 2001-09-04 2003-04-29 Rosemount Aerospace, Inc. Combined LOAS and LIDAR system
CH697281B1 (de) * 2004-07-23 2008-07-31 Baumer Electric Ag Verfahren und Vorrichtung zur Unterdrückung von Störungen bei optischen Sensoren.
US20090323734A1 (en) * 2004-12-16 2009-12-31 Vectronix Ag Not temperature stabilized pulsed laser diode and all fibre power amplifier
KR100680178B1 (ko) * 2005-01-27 2007-02-08 삼성전자주식회사 광픽업 장치
JP2007085832A (ja) 2005-09-21 2007-04-05 Omron Corp 光学式レーダ装置
US8050863B2 (en) * 2006-03-16 2011-11-01 Gray & Company, Inc. Navigation and control system for autonomous vehicles
US8767190B2 (en) * 2006-07-13 2014-07-01 Velodyne Acoustics, Inc. High definition LiDAR system
CN101688774A (zh) * 2006-07-13 2010-03-31 威力登音响公司 高精确度激光雷达系统
JP2010529932A (ja) 2007-06-18 2010-09-02 レッダーテック インコーポレイテッド 運転者支援機能付きの照明システム
CA2710212C (fr) 2007-12-21 2014-12-09 Leddartech Inc. Procedes et systemes de detection et de telemetrie
US7961301B2 (en) * 2008-05-09 2011-06-14 Ball Aerospace & Technologies Corp. Flash LADAR system
JP5617159B2 (ja) * 2008-10-07 2014-11-05 トヨタ自動車株式会社 画像取得装置及び方法
US9091754B2 (en) 2009-09-02 2015-07-28 Trimble A.B. Distance measurement methods and apparatus
US8736818B2 (en) 2010-08-16 2014-05-27 Ball Aerospace & Technologies Corp. Electronically steered flash LIDAR
US8751103B2 (en) * 2010-11-22 2014-06-10 Caterpillar Inc. Object detection system having interference avoidance strategy
US9229096B2 (en) 2011-07-27 2016-01-05 Semiconductor Components Industries, Llc Time-of-flight imaging systems
US8848202B2 (en) * 2011-11-11 2014-09-30 Intersil Americas LLC Optical proximity sensors with offset compensation
JP2013113669A (ja) 2011-11-28 2013-06-10 Mitsubishi Electric Corp レーザレーダ装置
EP2626722B1 (fr) 2012-02-07 2016-09-21 Sick AG Capteur optoélectronique et procédé destiné à la détection et la détermination de l'éloignement d'objets
WO2013127973A1 (fr) 2012-03-01 2013-09-06 Iee International Electronics & Engineering S.A. Prévention d'interférence entre systèmes
CN102692622B (zh) * 2012-05-28 2014-07-02 清华大学 基于密集脉冲的激光探测方法
JP6103179B2 (ja) * 2012-09-13 2017-03-29 株式会社リコー 距離測定装置
US9291495B2 (en) * 2013-03-06 2016-03-22 Apple Inc. Proximity sensor with combined light sensor having an increased viewing angle
US8836922B1 (en) * 2013-08-20 2014-09-16 Google Inc. Devices and methods for a rotating LIDAR platform with a shared transmit/receive path
US10203399B2 (en) 2013-11-12 2019-02-12 Big Sky Financial Corporation Methods and apparatus for array based LiDAR systems with reduced interference
US9360554B2 (en) 2014-04-11 2016-06-07 Facet Technology Corp. Methods and apparatus for object detection and identification in a multiple detector lidar array
US9705283B1 (en) * 2014-05-20 2017-07-11 University Of Central Florida Research Foundation, Inc. Diffused channel semiconductor light sources
US9354318B1 (en) 2015-03-05 2016-05-31 Horizon Hobby, LLC Optical spread spectrum detection and ranging
JP6477083B2 (ja) * 2015-03-19 2019-03-06 株式会社豊田中央研究所 光学的測距装置
US10088557B2 (en) 2015-03-20 2018-10-02 MSOTEK Co., Ltd LIDAR apparatus
US9625582B2 (en) 2015-03-25 2017-04-18 Google Inc. Vehicle with multiple light detection and ranging devices (LIDARs)
EP3091342A1 (fr) 2015-05-07 2016-11-09 Conti Temic microelectronic GmbH Capteur optique pour un véhicule
US10845470B2 (en) * 2016-11-16 2020-11-24 Waymo Llc Methods and systems for protecting a light detection and ranging (LIDAR) device
US10520592B2 (en) 2016-12-31 2019-12-31 Waymo Llc Light detection and ranging (LIDAR) device with an off-axis receiver

Also Published As

Publication number Publication date
US20180188359A1 (en) 2018-07-05
US20200103510A1 (en) 2020-04-02
EP3538928A4 (fr) 2020-09-30
CN110114694A (zh) 2019-08-09
WO2018125573A1 (fr) 2018-07-05
JP2020504817A (ja) 2020-02-13
KR102316612B1 (ko) 2021-10-25
JP7296424B2 (ja) 2023-06-22
US20240151834A1 (en) 2024-05-09
KR20210042184A (ko) 2021-04-16
JP6888092B2 (ja) 2021-06-16
CA3047534C (fr) 2022-06-14
US11906671B2 (en) 2024-02-20
KR102240385B1 (ko) 2021-04-14
CA3047534A1 (fr) 2018-07-05
CN112394366A (zh) 2021-02-23
US10520592B2 (en) 2019-12-31
CN110114694B (zh) 2020-10-30
JP2021139909A (ja) 2021-09-16
EP3538928A1 (fr) 2019-09-18
KR20190091373A (ko) 2019-08-05

Similar Documents

Publication Publication Date Title
SG10202106035XA (en) Light detection and ranging (lidar) device with an off-axis receiver
IL288748A (en) A device for exposing and spreading light with multiple receivers
IL263105B (en) A vehicle with multiple exposure and light spread devices
IL271744A (en) Flexibility instrument error range exposure and light spread using multiple hypotheses
IL266494A (en) Methods and systems for protecting a light exposure and diffusion device
IL261434B (en) A system of planar light beam, light detection and range
EP3521920A4 (fr) Dispositif de balayage optique, dispositif de réception de lumière et système de détection optique
EP3521919A4 (fr) Dispositif de balayage optique, dispositif de réception de lumière et système de détection optique
EP3450961A4 (fr) Procédé de détection optique et dispositif de détection optique
FI3428589T3 (fi) Valonilmaisulaite
EP3493275A4 (fr) Dispositif de détection de lumière
EP3540390A4 (fr) Dispositif de détection de lumière
EP3493276A4 (fr) Dispositif de détection de lumière
EP3252514A4 (fr) Lentille d'imagerie, dispositif imageur utilisant cette lentille, et système de mesure de distance
EP3413065A4 (fr) Dispositif pourvu d'un circuit de détection de fissure et système de détection
SG10201913316VA (en) Spray device and leak detection module
EP3591358A4 (fr) Dispositif de détection de lumière
EP3696521A4 (fr) Dispositif de détection de lumière et dispositif laser
FR3019557B1 (fr) Dispositif d’incubation et de detection
SG10201811769XA (en) Light detecting and ranging (lidar) devices and the like
EP3537164A4 (fr) Dispositif de détection de court-circuit
EP3413084A4 (fr) Dispositif et procédé de mesure de distance, dispositif de traitement de signal et dispositif de projection de lumière
EP3680633A4 (fr) Dispositif et appareil de détection de puissance optique
EP3540773A4 (fr) Dispositif de détection de lumière
EP3101461A4 (fr) Dispositif de détection de foyer, dispositif d'ajustement de foyer, et appareil de prise de vues