WO2017183530A1 - Dispositif de détection d'objet - Google Patents

Dispositif de détection d'objet Download PDF

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Publication number
WO2017183530A1
WO2017183530A1 PCT/JP2017/014925 JP2017014925W WO2017183530A1 WO 2017183530 A1 WO2017183530 A1 WO 2017183530A1 JP 2017014925 W JP2017014925 W JP 2017014925W WO 2017183530 A1 WO2017183530 A1 WO 2017183530A1
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WIPO (PCT)
Prior art keywords
light
light source
light beam
object detection
mirror surface
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.)
Ceased
Application number
PCT/JP2017/014925
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English (en)
Japanese (ja)
Inventor
亮太 石川
将史 影山
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Konica Minolta Inc
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Konica Minolta Inc
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Publication date
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Priority to JP2018513127A priority Critical patent/JPWO2017183530A1/ja
Publication of WO2017183530A1 publication Critical patent/WO2017183530A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present invention relates to an optical scanning type object detection apparatus capable of detecting a distant object.
  • an object detection device adopting the TOF (Time of Flight) method has already been developed.
  • the TOF method the distance to the object can be measured by measuring the time until the pulsed laser light hits the object and returns.
  • the object detection device adopting the TOF method is generally used to amplify an APD (avalanche photodiode) or the like in order to detect the weak reflected light generated when a laser beam is irradiated to a distant object.
  • a light receiving element with a high rate is used.
  • a plurality of light receiving elements that receive reflected light are arranged to ensure high resolution.
  • Patent Document 1 discloses a rotating mirror unit having a first mirror surface and a second mirror surface that are inclined with respect to a rotation axis, and at least one that emits a light beam toward an object through the mirror unit.
  • a light projection system including a light source, and the light beam emitted from the light source is reflected by the first mirror surface of the mirror unit and then travels toward the second mirror surface, and further the second
  • a radar which is reflected by a mirror surface and projected while being scanned with respect to the object in accordance with the rotation of the mirror unit.
  • the luminous flux emitted from the light projecting system is reflected by the rotating first mirror surface and the second mirror surface, and then is irradiated toward the object. Since the light is incident on the light receiving system after being reflected by the first mirror surface and the second mirror surface, in principle, only the reflected light of the projected light is incident on the light receiving system. It has the advantage of having a resolution and a wider field of view.
  • Patent Document 1 discloses that a plurality of light sources can be used to increase the number of scanning lines without deteriorating longitudinal distortion, it is clear that the detection range can be expanded while downsizing the apparatus. There is no disclosure.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an object detection apparatus that can be made compact while using a plurality of light sources and can expand a detection range.
  • an object detection device reflecting one aspect of the present invention.
  • a rotating or oscillating mirror unit having a plurality of mirror surfaces inclined at different angles with respect to the rotation axis;
  • a light projecting system including a first light source and a second light source for emitting a light beam;
  • a light receiving system including a light receiving element that receives a reflected light beam from the object, and an object detection device having: At least a part of the first light beam emitted from the first light source and incident on the mirror surface and the second light beam emitted from the second light source and incident on the mirror surface are at least partially on the mirror surface.
  • the first light beam and the second light beam reflected by the mirror surface are projected while being scanned toward the object, and the reflected light beam is reflected by the mirror surface and received by the light receiving element. It is supposed to In the cross section in the direction perpendicular to the optical axis of the first light flux and the second light flux within the object detection region, the size in the direction corresponding to the scanning direction is smaller than the size in the direction corresponding to the scanning orthogonal direction It is.
  • an object detection device that can be made compact while using a plurality of light sources and can expand the detection range.
  • FIG. 1 is a schematic diagram showing a state in which a laser radar as an object detection device according to the present embodiment is mounted on a vehicle.
  • the laser radar LR of the present embodiment is provided on the inner side of the upper end of the front window 1a of the vehicle 1, but may be disposed outside the vehicle (such as behind the front grill 1b).
  • FIG. 2 is a perspective view schematically showing the main part excluding the housing of the laser radar LR according to the present embodiment.
  • the shape and length of the components may differ from the actual ones.
  • the outgoing light beam and the reflected light beam are shown only on the optical axis (light beam center).
  • the laser radar LR converts, for example, a pulsed semiconductor laser (first light source) LD1 that emits a laser beam and a divergent angle of divergent light from the semiconductor laser LD1 into weakly divergent light.
  • Collimating lens (first collimating lens) CL1 pulse-type semiconductor laser (second light source) LD2 that emits a laser beam, and narrowing the divergence angle of the divergent light from the semiconductor laser LD2 to convert it into weakly divergent light
  • a mirror that rotates a collimating lens (second collimating lens) CL2, a laser beam (first beam) SB1 and a laser beam (second beam) SB2 that are substantially parallel by the collimating lens CL1 and the collimating lens CL2.
  • Scanning light is projected toward the object OBJ side (FIG. 1) by the surface, and from the object OBJ that has been scanned and projected.
  • the mirror unit MU that reflects the scattered light
  • the lens LS1 that collects the scattered light (the received light beam) from the object OBJ reflected by the mirror unit MU corresponding to the first light beam, and the light that is collected by the lens LS1.
  • the photodiodes PD1 and PD2 preferably have a plurality of pixels in a direction orthogonal to the scanning direction.
  • the mirror unit MU has a shape in which two triangular pyramids are joined together in opposite directions, that is, has three pairs of mirror surfaces M1 and M2 that are inclined in a direction facing each other.
  • the inclination angle of the first mirror surface M1 with respect to the rotation axis RO is the same, but the inclination angle of the second mirror surface M2 with respect to the rotation axis RO is different.
  • the mirror surfaces M1 and M2 are preferably formed by depositing a reflective film on the surface of a resin material (for example, PC) injection-molded into the shape of the mirror unit. As a result, the tilt angles of the mirror surfaces M1 and M2 can be accurately made.
  • the mirror unit MU is connected to a motor (not shown) and is driven to rotate.
  • the semiconductor laser LD1 and the collimating lens CL1 constitute a light projection system LPS1
  • the semiconductor laser LD2 and the collimating lens CL2 constitute a light projection system LPS2
  • the lens LS1 and the photodiode PD1 constitute a light receiving system RPS1.
  • LS2 and photodiode PD2 constitute light receiving system RPS2.
  • the light projecting system LPS1 and the light receiving system RPS1 may be a single light projecting / receiving system unit
  • the light projecting system LPS2 and the light receiving system RPS2 may be a single light projecting / receiving system unit.
  • the optical axes of the light receiving systems RPS1 and RPS2 are substantially orthogonal to the rotation axis RO of the mirror unit MU.
  • the spread angles in the scanning orthogonal direction of the light beam emitted from the light projecting system LPS1 and the light beam emitted from the light projecting system LPS2 are preferably substantially equal (for example, the difference between the angles is within ⁇ 10%). good.
  • FIG. 3 is a diagram showing the laser radar LR cut in a direction perpendicular to the rotation axis RO.
  • FIG. 4 is a diagram showing the laser radar LR cut along the rotation axis RO (viewed from a direction orthogonal to the plane formed by the rotation axis RO and the scanning center C).
  • the center line of the first mirror surface M1 is a scanning center C.
  • the optical axis AX1 of the first light beam SB1 emitted from the light projecting system LPS1 and the optical axis AX2 of the second light beam SB2 emitted from the light projecting system LPS2 are the first mirror.
  • the optical axes AX1 and AX2 are preferably symmetric with respect to the scanning center C, and approach the surface M1. As a result, the apparatus can be made compact, and the light can be effectively used while suppressing the vignetting.
  • the optical axis AX1 of the first light beam SB1 emitted from the light projection system LPS1 and the optical axis AX2 of the second light beam SB2 emitted from the light projection system LPS2 are the first mirror surface. It goes away as it goes to M1.
  • the value ( ⁇ ⁇ ⁇ ) obtained by multiplying the angle ⁇ formed by the optical axis AX2 of the second light beam SB2 and the surface PL is a value of zero or less.
  • ⁇ + ⁇ 0.
  • the object can be detected in a wider range by dividing the scanning range of the first light beam SB1 and the second light beam SB2 while suppressing the influence of longitudinal distortion and beam rotation.
  • divergent light intermittently emitted from the semiconductor laser LD1 in pulses is converted into weak divergent light by the collimator lens CL1 to become the first light beam SB1, and the first mirror surface M1 of the rotating mirror unit MU. 2 is reflected at the point P2a on the right half part side (right side of the center C) shown in FIG. 2 of the second mirror surface M2 and then reflected on the external object OBJ side as a laser spot light. Scanned light is emitted.
  • the diverging light intermittently emitted in a pulse form from the semiconductor laser LD2 at a timing different from that of the semiconductor laser LD1 is converted into weak divergent light by the collimator lens CL2 to become the second light beam SB2, and the rotating mirror unit
  • the light enters the first mirror surface M1 of the MU, is reflected there, and is further reflected at a point P2b on the left half side (left side of the center C) of the second mirror surface M2 shown in FIG. Scanning light is projected on the side as laser spot light.
  • the cross section of the laser spot light beam emitted toward the object OBJ has, for example, a vertically long cross section (that is, a cross section in the direction perpendicular to the optical axis whose size in the direction corresponding to the scanning direction is smaller than the size corresponding to the scanning orthogonal direction). ing. It is preferable that the point P2a and the point P2b are separated in the direction of the rotation axis RO.
  • the longitudinal section of the first light beam SB1 has the same shape and size as the longitudinal section of the second light beam SB2, and the two overlap completely. That is, it is preferable that the light beam is incident on the point P1 of the first mirror surface M1. However, it is sufficient if at least a part of both overlap.
  • “at least partly overlaps” includes when the first light flux and the second light flux have different light emission timings, and also includes the case where at least a part of them overlaps on the assumption that they emit light simultaneously.
  • FIG. 5 is a diagram illustrating a state in which the object detection area is scanned by the first light beam SB1 and the second light beam SB2 (indicated by hatching) emitted according to the rotation of the mirror unit MU.
  • FIG. 6 is a diagram schematically showing the first light beam SB1 and the second light beam SB2 emitted from the second mirror surface M2.
  • the crossing angle is different for each pair.
  • the first light beam SB1 and the second light beam SB2 are sequentially reflected by the rotating first mirror surface M1 and second mirror surface M2.
  • the second light beam SB2 reflected by the first pair of the first mirror surface M1 and the second mirror surface M2 moves the uppermost region Ln1 of the object detection region horizontally according to the rotation of the mirror unit MU. Scanned in the direction from left to right.
  • the second light beam SB2 reflected by the second pair of the first mirror surface M1 and the second mirror surface M2 passes through the second region Ln2 from the top of the object detection region according to the rotation of the mirror unit MU. Scanned horizontally from left to right.
  • the second light beam SB2 reflected by the third pair of the first mirror surface M1 and the second mirror surface M2 passes through the third region Ln3 from the top of the object detection region according to the rotation of the mirror unit MU.
  • the cross section S2 in the scanning orthogonal direction of the second light beam SB2 reflected by each mirror pair and going to the object detection area is irradiated with no gap in the areas Ln1 to Ln3. It is preferable to have a size in the scanning orthogonal direction.
  • the first light beam SB1 reflected by the first pair of the first mirror surface M1 and the second mirror surface M2 is the fourth region of the object detection region according to the rotation of the mirror unit MU.
  • Ln4 is scanned horizontally from left to right.
  • the first light beam SB1 reflected by the second pair of the first mirror surface M1 and the second mirror surface M2 passes through the fifth region Ln5 from the top of the object detection region according to the rotation of the mirror unit MU. Scanned horizontally from left to right.
  • the first light beam SB1 reflected by the third pair of the first mirror surface M1 and the second mirror surface M2 passes through the sixth region Ln6 from the top of the object detection region according to the rotation of the mirror unit MU.
  • the first scan of the lower half (second light flux irradiation range) of the object detection area is completed.
  • the cross section S1 in the scanning orthogonal direction of the first light beam SB1 reflected by each mirror pair and traveling toward the object detection region is irradiated with no gap in the regions Ln4 to Ln6. It is preferable to have a size in the scanning orthogonal direction. Further, it is preferable that the second light beam SB2 in the region Ln3 and the first light beam SB1 in the region Ln4 are irradiated with no gap therebetween. These may partially overlap.
  • a single frame FL is obtained by combining images obtained by scanning the areas Ln1 to Ln6. Then, if the first pair of the first mirror surface M1 and the second mirror surface M2 return after one rotation of the mirror unit MU, the region from the uppermost region Ln1 to the lowermost region Ln6 again. Scanning is repeated to obtain the next frame FL.
  • a part of the scattered light scattered by hitting the object OBJ out of the first projected light beam is incident on the point P3a of the second mirror surface M2 of the mirror unit MU, and is reflected here. Further, after being reflected at the point P4a on the first mirror surface M1, it is condensed by the lens LS1 and detected by the light receiving surface of the photodiode PD1.
  • a part of the scattered light that is scattered by hitting the object OBJ out of the second light flux that has been scanned and projected is incident on the point P3b of the second mirror surface M2 of the mirror unit MU, reflected there, and further After being reflected at the point P4b of the one mirror surface M1, it is condensed by the lens LS2 and detected by the light receiving surface of the photodiode PD2.
  • the distance to the object OBJ can be obtained.
  • FIG. 7 is a cross-sectional view of a laser radar LR according to another embodiment in the direction of the rotation axis RO, but shows a state viewed from a direction orthogonal to the surface of the rotation axis RO and the scanning center, and the light receiving system is omitted.
  • the mirror unit MU has a triangular prism shape and includes three mirror surfaces M (1) to M (3) parallel to the rotation axis RO.
  • the light beam emitted from the light projecting system LPS1 is reflected by the mirror surfaces M (1), M (2), and M (3), and the first light beam SB1a toward the object detection area at the upper left of the drawing at different angles.
  • SB1b and SB1c, and the light beam emitted from the light projecting system LPS2 is also reflected by the mirror surfaces M (1), M (2), and M (3), and is directed to the object detection region at different angles.
  • the light fluxes are SB2a, SB2b, and SB2c.
  • the spread angle ⁇ 2 (not shown) in the scanning orthogonal direction between the light beam emitted from the light projecting system LPS1 and the light beam emitted from the light projecting system LPS2 is assumed to be equal.
  • Other configurations are the same as those in the above-described embodiment.
  • the angle difference between the optical axis AX1 of the light projecting system LPS1 and the optical axis AX2 of the light projecting system LPS2 is ⁇ 1, and the maximum angle difference ⁇ 3a of the first light beams SB1a, SB1b, SB1c emitted from the mirror unit MU.
  • the object detection area can be covered with almost no gap.
  • the difference in ⁇ 1 with respect to ⁇ 2 + ⁇ 3a or ⁇ 2 + ⁇ 3b is within ⁇ 10%, it can be said that the difference is approximately equal, so that the same effect can be realized.
  • FIG. 8 is a cross-sectional view of a light projecting system according to still another embodiment, and is a cross-section in the rotational axis direction of a mirror unit (not shown), and the vertical direction corresponds to the scanning orthogonal direction.
  • a common collimating lens CL is provided.
  • the distance from the optical axis X1 of the collimating lens CL to the light emitting surface center C1 of the light emitting surface LD1a of the semiconductor laser LD1 and the distance from the light emitting surface center C2 of the light emitting surface LD2a of the semiconductor laser LD2 are equal to each other.
  • the curvature of field becomes large.
  • the center of one of the semiconductor lasers is placed on the optical axis X1 of the collimator lens CL and the rest is placed on the periphery, the respective focal positions are shifted, which may make adjustment difficult. Therefore, as shown in FIG. 8, by arranging the light emitting surface center C1 of the light emitting surface LD1a and the light emitting surface center C2 of the light emitting surface LD2a at equal distances with respect to the optical axis X1 of the collimating lens CL, The focal position deviation can be reduced and the resolution can be increased.
  • P1 is an area irradiated with the first light beam SB1 emitted from the semiconductor laser LD1 and reflected by the first mirror surface
  • P1 ′ is a semiconductor laser.
  • P2 is irradiated with the first light beam SB1 emitted from the semiconductor laser LD1 and reflected by the second mirror surface.
  • P2 ′ is an area irradiated with the second light beam SB2 emitted from the semiconductor laser LD2 and reflected by the second mirror surface
  • P3 is emitted from the semiconductor laser LD1 and reflected by the third mirror surface.
  • the area irradiated with the first light beam SB1, and P3 ′ is the area irradiated with the second light beam SB2 emitted from the semiconductor laser LD2 and reflected by the third mirror surface.
  • P4 is an area irradiated with the first light beam SB1 emitted from the semiconductor laser LD1 and reflected by the fourth mirror surface
  • P4 ′ is the second light emitted from the semiconductor laser LD2 and reflected by the fourth mirror surface. This is an area irradiated with the light beam SB2.
  • the minimum distance between the light emitting surface LD1a of the semiconductor laser LD1 and the light emitting surface LD2a of the semiconductor laser LD2 is y
  • the focal length of the collimating lens CL is f
  • the size in the direction corresponding to the scanning direction is smaller than the size in the direction corresponding to the scanning orthogonal direction.
  • the cross-sectional size W in the direction corresponding to the scanning direction in the single laser light beam SB is W with respect to the cross-sectional size L in the direction corresponding to the scanning orthogonal direction.
  • W ⁇ L can be realized by transmitting light emitted from an isotropic light source through a beam shaper, a cylindrical lens, or a prism. .
  • the cross-sectional size W in the direction corresponding to the scanning direction of the whole emitted light beam group is the direction corresponding to the scanning orthogonal direction.
  • W ⁇ L is included for the cross-sectional size L.
  • FIG. 10 is a diagram schematically showing a light projecting / receiving system used for a laser radar according to another embodiment. Since the object OBJ is in the distance, the light beam SB1, the reflected light beam RB1, the light beam SB2, and the reflected light beam RB2 are Each is a light emitting / receiving coaxial structure that is substantially parallel.
  • FIG. 11 is a diagram schematically showing the light receiving surface of the photodiode PD.
  • the photodiode PD shown in FIG. 11 has a first area AR1 and a second area AR2 in which six pixels are arranged in a line. As shown in FIG.
  • the divergent light emitted intermittently in a pulse form from the semiconductor laser LD1 is converted into weak divergent light by the collimator lens CL to become the first light beam SB1, and a mirror surface (not shown)
  • the reflected light RB1 is reflected by a mirror surface (not shown), passes through the lens LS, and is received by the first region AR1 of the photodiode PD.
  • the divergent light intermittently emitted in a pulse form from the semiconductor laser LD2 is converted into weak divergent light by the collimator lens CL to become the second light beam SB2, reflected by a mirror surface (not shown), and reflected on the object OBJ.
  • the incident light beam RB2 is reflected by a mirror surface (not shown), passes through the lens LS, and is received by the second region AR2 of the photodiode PD.
  • the projection region of the light beam SB1 and the light receiving region of the reflected light beam RB1 are coaxial, and the projection region of the light beam SB2 and the light receiving region of the reflected light beam RB2 are coaxial.
  • the semiconductor laser LD1 and the first area AR1, and the semiconductor laser LD2 and the second area AR2 are coaxially arranged to project and receive light, and at least a part of the projected image overlaps in the distance.
  • each region of the photodiode PD preferably has a multi-array structure.
  • the example of FIG. 10B is a six-element array, but is not limited thereto.
  • a surface emitting VCSEL Very ⁇ Cavity ⁇ ⁇ Surface Emitting LASER
  • the angle of the light beam can be freely changed by deflecting the outgoing light with a prism. It becomes possible. Further, since the light can be emitted only in the angle of view having the light receiving sensitivity with respect to the light amount loss (in the case of the vertically long beam) that has occurred in the gap between the light receiving elements, the light receiving efficiency of the output light amount can be improved.
  • Laser radar that emits high-power light may cause eye safety problems, but it can improve safety in addition to increasing the amount of output light. In order to further increase the safety, the amount of light entering the pupil can be reduced by placing the beam expander after being emitted from the light source or after being deflected by the prism, thereby increasing the safety.
  • the present invention is not limited to the embodiments described in the specification, and other embodiments and modifications are included for those skilled in the art from the embodiments and technical ideas described in the present specification. it is obvious.
  • the description and the embodiments are for illustrative purposes only, and the scope of the present invention is indicated by the following claims.
  • the first light source and the second light source are arranged side by side so that the first light beam and the second light beam extend along a cross section passing through the rotation axis of the mirror unit. Also good.
  • the contents of the present invention described with reference to the drawings can all be applied to the embodiment, and can be applied to a flying object such as a helicopter or a security sensor installed in a building to detect a suspicious person.
  • the semiconductor laser is used as the light source.
  • the present invention is not limited to this, and it goes without saying that an LED or the like may be used as the light source.
  • the mirror unit may swing.

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  • 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)
  • Mechanical Optical Scanning Systems (AREA)

Abstract

L'invention concerne un dispositif de détection d'objet qui peut être rendu compact malgré l'utilisation d'une pluralité de sources de lumière, et dont la plage de détection peut être agrandie. Le dispositif de détection d'objet selon la présente invention est configuré de telle sorte qu'un premier flux lumineux, émis depuis une première source de lumière et incident sur une surface de miroir, et un second flux lumineux, émis depuis une seconde source de lumière et incident sur la surface de miroir, sont au moins partiellement superposés sur la surface de miroir, le premier flux lumineux et le second flux lumineux réfléchis par la surface de miroir sont projetés vers un objet pendant qu'il est balayé, un flux optique réfléchi est réfléchi par la surface de miroir et reçu par un élément de réception de lumière, et la taille de celui-ci dans la direction correspondant à la direction de balayage est inférieure à la taille de celui-ci dans la direction correspondant à la direction orthogonale à la direction de balayage dans une section transversale dans la direction orthogonale à l'axe optique du premier flux lumineux et du second flux lumineux dans une région de détection d'objet.
PCT/JP2017/014925 2016-04-21 2017-04-12 Dispositif de détection d'objet Ceased WO2017183530A1 (fr)

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Cited By (10)

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WO2019163210A1 (fr) * 2018-02-22 2019-08-29 コニカミノルタ株式会社 Système optique de balayage et lidar
CN110389360A (zh) * 2019-07-30 2019-10-29 南京理工大学 一种用于小型无人机的360°环视成像与激光告警装置
WO2020032009A1 (fr) * 2018-08-07 2020-02-13 株式会社小糸製作所 Système de capteurs
WO2021175440A1 (fr) * 2020-03-06 2021-09-10 Huawei Technologies Co., Ltd. Conception et fonctionnement de dispositif de télémétrie à base de lumière
JP2022510039A (ja) * 2019-01-04 2022-01-25 ブラックモア センサーズ アンド アナリティクス エルエルシー マルチファセット偏向器を含むｌｉｄａｒシステム
JPWO2022044317A1 (fr) * 2020-08-31 2022-03-03
JP2022538792A (ja) * 2019-06-28 2022-09-06 ウェイモ エルエルシー 耐オクルージョン性のためのビーム均質化
JP2023138001A (ja) * 2022-03-18 2023-09-29 株式会社東芝 ＬｉＤＡＲ装置およびＬｉＤＡＲ装置の制御方法
US12578437B2 (en) 2019-03-28 2026-03-17 Mitsubishi Electric Corporation Distance measuring apparatus
US12618949B2 (en) 2023-10-24 2026-05-05 Aurora Operations, Inc. LIDAR system including multifaceted deflector

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JP2015180956A (ja) * 2013-04-11 2015-10-15 コニカミノルタ株式会社 走査光学系及びレーダー

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