WO2020169118A3 - 多点扫描激光雷达及其探测方法 - Google Patents

多点扫描激光雷达及其探测方法 Download PDF

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Publication number
WO2020169118A3
WO2020169118A3 PCT/CN2020/085260 CN2020085260W WO2020169118A3 WO 2020169118 A3 WO2020169118 A3 WO 2020169118A3 CN 2020085260 W CN2020085260 W CN 2020085260W WO 2020169118 A3 WO2020169118 A3 WO 2020169118A3
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WO
WIPO (PCT)
Prior art keywords
laser light
target
detection method
laser
laser radar
Prior art date
Application number
PCT/CN2020/085260
Other languages
English (en)
French (fr)
Other versions
WO2020169118A2 (zh
Inventor
张俊明
徐超
杨佳
曹艳亭
Original Assignee
宁波舜宇车载光学技术有限公司
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 宁波舜宇车载光学技术有限公司 filed Critical 宁波舜宇车载光学技术有限公司
Priority to US17/432,635 priority Critical patent/US20220146638A1/en
Publication of WO2020169118A2 publication Critical patent/WO2020169118A2/zh
Publication of WO2020169118A3 publication Critical patent/WO2020169118A3/zh

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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
    • G01S7/481—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
    • 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
    • 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
    • G01S17/02—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
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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

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)

Abstract

提供了一种多点扫描激光雷达（100）及其探测方法，其中多点扫描激光雷达（100）包括至少一个供发射激光的激光发射端（10）、一个扫描器件（30）、至少一个光路传导机构（20）以及一个激光接收端（40），其中扫描器件（30）形成至少一个导光面（31），供传导激光至少一个目标物（300），其中光路传导机构（20）设置在激光发射端（10）和扫描器件（30）之间，其中扫描器件（30）以导光面（31）先后地传导激光至目标物（300）不同部位的方式被设置在激光路径上，其中激光路径为激光经由光路传导机构（20）传导至目标物（300）的路径，其中激光接收端（40）接收和分析经由目标物（300）反射的激光。
PCT/CN2020/085260 2019-02-22 2020-04-17 多点扫描激光雷达及其探测方法 WO2020169118A2 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/432,635 US20220146638A1 (en) 2019-02-22 2020-04-17 Multi-point scanning lidar and detection method thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910132197.7 2019-02-22
CN201910132197.7A CN111610506A (zh) 2019-02-22 2019-02-22 多点扫描激光雷达及其探测方法

Publications (2)

Publication Number Publication Date
WO2020169118A2 WO2020169118A2 (zh) 2020-08-27
WO2020169118A3 true WO2020169118A3 (zh) 2020-10-08

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Country Status (3)

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US (1) US20220146638A1 (zh)
CN (1) CN111610506A (zh)
WO (1) WO2020169118A2 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021127874A1 (de) 2021-10-26 2023-04-27 Behr-Hella Thermocontrol Gmbh Vorrichtung zum Empfangen von Strahlung aus einem Erfassungsbereich im Innenraum eines Fahrzeugs oder im Umfeld eines Fahrzeugs
CN115291189A (zh) * 2022-07-19 2022-11-04 深圳市杉川机器人有限公司 扫描机构、激光雷达及清洁设备

Citations (6)

* Cited by examiner, † Cited by third party
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CN102338875A (zh) * 2010-07-16 2012-02-01 李少勤 一种多线扫描前视防撞激光雷达装置及应用
CN108061904A (zh) * 2017-12-29 2018-05-22 华为技术有限公司 多线激光雷达
CN108226903A (zh) * 2018-03-26 2018-06-29 苏州清研微视电子科技有限公司 一种基于单激光测距装置的四线激光雷达扫描装置
CN108490419A (zh) * 2018-06-04 2018-09-04 电子科技大学 一种自动驾驶车载多线激光雷达系统
US20180275275A1 (en) * 2015-11-05 2018-09-27 Arete Associates Continuous wave laser detection and ranging
CN109343029A (zh) * 2018-12-04 2019-02-15 深圳市镭神智能系统有限公司 一种激光雷达光学系统及扫描方法

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JP5754617B2 (ja) * 2011-01-12 2015-07-29 株式会社リコー 光走査装置及び画像形成装置
EP4194888A1 (en) * 2016-09-20 2023-06-14 Innoviz Technologies Ltd. Lidar systems and methods
CN108132472A (zh) * 2017-12-08 2018-06-08 上海禾赛光电科技有限公司 激光雷达系统
CN207318710U (zh) * 2017-11-02 2018-05-04 厦门市和奕华光电科技有限公司 一种单激光器多线束混合激光雷达
CN108387904A (zh) * 2018-03-22 2018-08-10 北京瑞特森传感科技有限公司 一种激光雷达装置
CN108845410B (zh) * 2018-07-03 2021-01-22 上海理工大学 基于多面体棱镜的多光束共聚焦高速扫描成像方法与装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102338875A (zh) * 2010-07-16 2012-02-01 李少勤 一种多线扫描前视防撞激光雷达装置及应用
US20180275275A1 (en) * 2015-11-05 2018-09-27 Arete Associates Continuous wave laser detection and ranging
CN108061904A (zh) * 2017-12-29 2018-05-22 华为技术有限公司 多线激光雷达
CN108226903A (zh) * 2018-03-26 2018-06-29 苏州清研微视电子科技有限公司 一种基于单激光测距装置的四线激光雷达扫描装置
CN108490419A (zh) * 2018-06-04 2018-09-04 电子科技大学 一种自动驾驶车载多线激光雷达系统
CN109343029A (zh) * 2018-12-04 2019-02-15 深圳市镭神智能系统有限公司 一种激光雷达光学系统及扫描方法

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Publication number Publication date
US20220146638A1 (en) 2022-05-12
WO2020169118A2 (zh) 2020-08-27
CN111610506A (zh) 2020-09-01

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