# US 2017/0285147 A1 · Laser scanner

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- Number: US 2017/0285147 A1
- Document ID: US20170285147A1
- Status: Published application
- Kind: A1
- Application number: 15/473,497
- Filed: 2017-03-29
- Published: 2017-10-05
- Earliest claimed: 2016-03-29
- Assignees: Leica Geosystems AG
- Applicants: Leica Geosystems AG
- Inventors: Julien SINGER; Lukas HEINZLE; Jochen SCHEJA; Simon MARK; Jürg HINDERLING; Burkhard BÖCKEM
- Web page: https://patentgrep.com/patent/US20170285147A1

## CPC

- G01S 7/4817: {relating to scanning}
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/89: for mapping or imaging
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0236: {in combination with a laser (lasers per se H01S)}
- 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
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

A laser scanner device adapted to be mounted to a vehicle, the device comprising a LIDAR module, the LIDAR module comprising at least one laser source, characterized by a horizontal field of view of at least 60°, an instantaneous vertical field of view of at least ±2°, a scan resolution of at least one point per 0.8° in horizontal and vertical direction, and a frame rate of at least 10 Hz for scanning at least the entire horizontal and instantaneous vertical field of view with said scan resolution.

## Claims

### Claim 1

A laser scanner device adapted to be mounted to a vehicle, the laser scanner device comprising:
a LIDAR module comprising at least one laser source,
wherein the LIDAR module has:
a horizontal field of view of at least 60°,
an instantaneous vertical field of view of at least ±2°,
a scan resolution of at least one point per 0.8° in a horizontal and a vertical direction, and
a frame rate of at least 10 Hz for scanning at least the entire horizontal and an instantaneous vertical field of view with said scan resolution.

### Claim 2 (depends on 1)

The laser scanner device according to claim 1, further comprising:
a rotating mirror which steers a scanning beam horizontally in a uniform manner.

### Claim 3 (depends on 1)

The laser scanner device according to claim 1, further comprising:
a galvano which steers a scanning beam horizontally in a non-uniform manner.

### Claim 4 (depends on 2)

The laser scanner device according to claim 2, further comprising:
a polygon, a mirror and/or a MEMS for steering the scanning beam vertically in the instantaneous vertical field of view.

### Claim 5 (depends on 1)

The laser scanner device according claim 1, further comprising:
a tilt mechanism for tilting the device to achieve an overall vertical field of view of at least ±25°.

### Claim 6 (depends on 1)

The laser scanner device according to claim 1, further comprising:
a fixed receiver having at least 32 detectors, in particular at least 64 detectors.

### Claim 7 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
a uniform scan resolution of at least 0.15°.

### Claim 8 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
a non-uniform scan resolution of between 0.15° and 0.3°, and
wherein a point density of the non-uniform scan increases towards the edges of the field of view.

### Claim 9 (depends on 1)

The laser scanner device according to claim 1, further comprising:
a housing which encompasses the at least one laser module.

### Claim 10 (depends on 1)

The laser scanner device according to claim 1, further comprising:
a rectangular receiver optics aperture.

### Claim 11 (depends on 1)

The laser scanner device according to claim 1, further comprising:
at least two laser sources.

### Claim 12 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
a horizontal field of view of at least 70°.

### Claim 13 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
an instantaneous vertical field of view of at least ±3°.

### Claim 14 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
a scan resolution of at least one point per 0.5° in horizontal and vertical direction.

### Claim 15 (depends on 1)

The laser scanner device according to claim 1, wherein the LIDAR module has:
a frame rate of at least 20 Hz for scanning at least the entire horizontal and instantaneous vertical field of view with said scan resolution.