DE102016009936A1 - LIDAR system with moving light fiber - Google Patents

Abstract

An arrangement includes an optical fiber (201) having a first end (205) and a second end. The arrangement (100) comprises a fixing (250), which fixes the optical fiber (201) at a fixing point (206). Light (191, 192) can be fed to the second end of the optical fiber (201). An actuator is configured to move the first end (205) of the optical fiber (201) relative to the fuser (206). In some examples, a LIDAR system is configured to perform a scanned distance measurement of objects around the array based on the light (191, 192).

Description

TECHNICAL AREA

Various embodiments relate to an assembly comprising an optical fiber and an actuator configured to move a first end of the optical fiber opposite a fixing location of the optical fiber. In various embodiments, the arrangement also comprises a LIDAR system, which is set up to perform a scanned distance measurement of objects in the vicinity of the arrangement based on laser light.

BACKGROUND

The distance measurement of objects is desirable in various fields of technology. For example, in the context of autonomous driving applications, it may be desirable to detect objects around vehicles and, in particular, to determine a distance to the objects.

One technique for measuring the distance of objects is the so-called LIDAR technology (light detection and ranging, sometimes also LADAR). In this case, pulsed laser light is emitted by an emitter. The objects in the environment reflect the laser light. These reflections can then be measured. By determining the transit time of the laser light, a distance to the objects can be determined.

In order to detect the objects in the environment spatially resolved, it may be possible to scan the laser light. Depending on the beam angle of the laser light different objects in the environment can be detected.

However, conventional spatially resolved LIDAR systems have the disadvantage that they can be comparatively expensive, heavy, maintenance-intensive and / or large. Typically, LIDAR systems use a scanning mirror that can be placed in different positions. An accuracy with which the position of the scanning mirror can be determined thereby typically limits the accuracy of the spatial resolution of the LIDAR measurement. In addition, the scanning mirror is often large and the adjustment mechanism can be maintenance-intensive and / or expensive.

Out Leach, Jeffrey H., Stephen R. Chinn, and Lew Goldberg. "Monostatic all-fiber scanning LADAR system." Applied optics 54.33 (2015): 9752-9757 For example, techniques are known for performing a scanned LIDAR measurement by means of an adjustable curvature of an optical fiber. Appropriate techniques are also off Mokhtar, MHH, and RRA Syms. "Tailored fiber waveguides for precise two-axis Lissajous scanning." Optics express 23.16 (2015): 20804-20811 known.

Such techniques have the disadvantage that the curvature of the optical fiber is comparatively limited. In addition, it may be difficult to implement optics that avoid beam divergence of laser light exiting the end of the optical fiber.

SUMMARY

Therefore, there is a need for improved techniques for measuring the distance of objects around an array. In particular, there is a need for such techniques which overcome at least some of the above limitations and disadvantages.

This object is solved by the features of the independent claims. The features of the dependent claims define embodiments.

In one example, an arrangement includes an optical fiber having a first end and a second end. The assembly also includes a fixture which fixes the optical fiber at a location of fixation between the first end and the second end. The arrangement also includes a terminal configured to supply light to the second end of the optical fiber. The arrangement also includes at least one actuator. The at least one actuator is arranged to move the optical fiber in the area between the fixing point and the first end. The rotation takes place between a first twist and a second twist. The arrangement also includes a LIDAR system. The LIDAR system is set up based on the light to perform a scanned distance measurement of objects in the vicinity of the arrangement.

In another example, an arrangement includes an optical fiber having a first end and a second end. The assembly also includes a fixture which fixes the optical fiber at a location of fixation between the first end and the second end. The arrangement also includes a terminal configured to supply light to the second end of the optical fiber. The assembly also includes at least one actuator configured to move the optical fiber in the region between the fixation site and the first end. The assembly also includes a lens fixedly connected to the first end of the optical fiber. The arrangement also includes a lidar system configured to perform a scanned distance measurement of objects in the vicinity of the array based on the light.

In one example, an arrangement includes an optical fiber having a first end and a second end. The assembly also includes a fixture which fixes the optical fiber at a location of fixation between the first end and the second end. The arrangement also includes a terminal configured to supply light to the second end of the optical fiber. The arrangement also includes at least one actuator. The at least one actuator is arranged to move the optical fiber in the area between the fixing point and the first end. The movement takes place between a first torsion and a second torsion. For example, the arrangement could be an RGB projector -. B. attached to a data glasses - or implement an endoscope.

In another example, a method includes injecting light into a second end of an optical fiber. The method further comprises fixing the optical fiber between a first end of the optical fiber and the second end of the optical fiber, at a fixing point of the optical fiber. The method also includes moving the optical fiber in the region between the fuser and the first end between a first twist and a second twist. Optionally, the method also includes performing a scanned LIDAR distance measurement of objects around the device based on the light or RGB projection or endoscopy.

In one example, an arrangement includes an optical fiber having a first end and a second end. The assembly also includes a fixture which fixes the optical fiber at a location of fixation between the first end and the second end. The arrangement also includes a terminal configured to supply light to the second end of the optical fiber. The assembly also includes an actuator configured to move the first end of the optical fiber opposite the fixation location between a first position and a second position. Optionally, the assembly also includes a LIDAR system configured to perform a scanned distance measurement of objects around the assembly based on the light.

In another example, a method includes injecting light into a second end of an optical fiber. The method further comprises fixing the optical fiber between a first end of the optical fiber and the second end of the optical fiber, at a fixing point of the optical fiber. The method also includes moving the first end of the optical fiber opposite the locator between a first position and a second position. Optionally, the method also includes performing a scanned LIDAR distance measurement of objects around the device based on the light.

The features and features set out above, which are described below, can be used not only in the corresponding combinations explicitly set out, but also in other combinations or isolated, without departing from the scope of the present invention.

BRIEF DESCRIPTION OF THE FIGURES

1A schematically illustrates an arrangement configured to perform a scanned distance measurement of objects around the device according to various embodiments, the device comprising a laser light emitter, a laser light detector, and a LIDAR system.

1B schematically illustrates the arrangement of 1A in greater detail, the arrangement including a scanning device configured to scan the laser light.

2 schematically illustrates a scanning device having an optical fiber with a movable end according to various embodiments.

3A schematically illustrates a scanning device with a light fiber having a movable end according to various embodiments, wherein 3A illustrates a curvature of the optical fiber.

3B schematically illustrates a scanning device with a light fiber having a movable end according to various embodiments, wherein 3B illustrates a twist of the optical fiber.

4A schematically illustrates a scanning device with an optical fiber having a movable end and a lens according to various embodiments.

4B schematically illustrates the focal length of the lens of 4A according to various embodiments.

4C schematically illustrates a scanning device with an optical fiber having a movable end and with a fixedly connected to the movable end of the lens and a stationary end connected to the movable end deflection according to various embodiments.

5 schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises a fiber Bragg gratings.

6A schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises two fiber Bragg gratings.

6B schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises two fiber Bragg gratings.

6C schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises four fiber Bragg gratings.

7 schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises four fiber Bragg gratings.

8A schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises four fiber Bragg gratings.

8B schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises a beam splitter and a position-sensitive detector (PSD).

8C schematically illustrates a positioning device for determining a position of the movable end of the optical fiber according to various embodiments, wherein the positioning device comprises a beam splitter and a PSD.

9 schematically illustrates an actuator for moving the movable end of the optical fiber according to various embodiments.

10A schematically illustrates an actuator for moving the movable end of the optical fiber according to various embodiments.

10B schematically illustrates an actuator for moving the movable end of the optical fiber according to various embodiments.

10C schematically illustrates an actuator for moving the movable end of the optical fiber according to various embodiments.

11 schematically illustrates an actuator for moving the movable end of the optical fiber according to various embodiments.

12A schematically illustrates an arrangement configured to perform a scanned distance measurement of objects in the vicinity of the assembly according to various embodiments.

12B schematically illustrates an arrangement configured to perform a scanned distance measurement of objects in the vicinity of the assembly according to various embodiments.

12C schematically illustrates an arrangement configured to perform a scanned distance measurement of objects in the vicinity of the assembly according to various embodiments.

13 schematically illustrates an arrangement configured to perform a scanned distance measurement of objects in the vicinity of the assembly according to various embodiments.

14 schematically illustrates an arrangement configured to perform a scanned distance measurement of objects in the vicinity of the assembly according to various embodiments.

15 FIG. 10 is a flowchart of a method according to various embodiments. FIG.

16 schematically illustrates a first order curvature mode and a second order curvature mode according to various embodiments.

17 schematically illustrates an arrangement according to various embodiments.

18 schematically illustrates a two-dimensional scanning region of the arrangement of 17 ,

DETAILED DESCRIPTION OF EMBODIMENTS

The above-described characteristics, features, and advantages of this invention, as well as the manner in which they are achieved, become clearer and more clearly understandable with the following description of the embodiments, which are explained in more detail in connection with the drawings.

Hereinafter, the present invention will be described with reference to preferred embodiments with reference to the drawings. In the figures, like reference characters designate the same or similar elements. The figures are schematic representations of various embodiments of the invention. Elements shown in the figures are not necessarily drawn to scale. Rather, the various elements shown in the figures are reproduced in such a way that their function and general purpose will be understood by those skilled in the art. Connections and couplings between functional units and elements illustrated in the figures may also be implemented as an indirect connection or coupling. Functional units can be implemented as hardware, software or a combination of hardware and software.

Hereinafter, various techniques for scanning light will be described. For example, the following techniques may enable two-dimensional scanning of light or one-dimensional scanning of light. Scanning may refer to repeated emission of the light at different angles of radiation. The scanning may indicate the repeated scanning of different points in the environment by means of the light. For example, the amount of different points in the environment and / or the amount of different radiation angles may define a scan area.

In various examples, it is possible to scan laser light. In this case, for example, coherent or incoherent laser light can be used. It would be possible to use polarized or unpolarized laser light. For example, it would be possible for the laser light to be pulsed. For example, short laser pulses with pulse widths in the range of femtoseconds or picoseconds or nanoseconds can be used. The laser light may have a wavelength in the range of 700-1800 nm. For the sake of simplicity, reference will now be made primarily to laser light; however, the various examples described herein may also be used to scan light from other light sources, for example broadband light sources or RGB light sources. RGB light sources herein generally refer to light sources in the visible spectrum, the color space being covered by superimposing several different colors, such as red, green, blue or cyan, magenta, yellow, black.

In various examples, a movable end of an optical fiber is used to scan the laser light. Sometimes, optical fibers are also referred to as optical fibers or glass fibers. However, it is not necessary that the optical fibers are made of glass. The optical fibers may be made of plastic, glass or other material, for example. Typically, the optical fibers have a core in which the injected laser light is propagated and enclosed by total reflection at the edges. In various examples, so-called single mode fibers or multimode fibers may be used. The various optical fibers described herein may, for example, have a circular cross-section. For example, it would be possible for the various optical fibers described herein to have a diameter not smaller than 50 μm, optionally not <150 μm, further optional not <500 μm, further optional not <1 mm. For example, the various optical fibers described herein may be made bendable. For this, the material of the optical fibers described herein may have some elasticity.

For example, the movable end of the fiber could be moved in one dimension or in two dimensions. For example, it would be possible for the movable end of the fiber to be tilted with respect to a fixing point of the optical fiber; this results in a curvature of the optical fiber. Alternatively or additionally, it is possible that the movable end of the fiber is twisted along the fiber axis (torsion). By moving the movable end of the optical fiber can be achieved that the fed into the optical fiber laser light is emitted at different angles. This allows an environment to be scanned with the laser light. Depending on the amount of movement of the movable end, scan areas of different sizes can be implemented.

In each of the various examples described herein, it is possible to implement a twist of the movable end of the optical fiber, alternatively or in addition to a curvature of the movable end of the optical fiber.

In general, such techniques can be used to scan light in a wide variety of applications. Examples include endoscopes and RGB projectors and printers. In various examples, LIDAR techniques can be used. The LIDAR techniques can be used to perform a spatially resolved distance measurement of objects in the environment. For example, the LIDAR technique can run-time measurements of the laser light between the movable end of the fiber, the object and a detector.

Although various examples are described in terms of LIDAR techniques, the present application is not limited to LIDAR techniques. For example, the aspects described herein with respect to the scanning of the laser light by means of the movable end of the optical fiber can also be used for other applications. Examples include, for example, the projecting of image data in a projector - it could, for. B. an RGB light source can be used.

Various examples are based on the finding that it may be desirable to carry out the scanning of the laser light with a high accuracy with respect to the emission angle. For example, in the context of LIDAR techniques, spatial resolution of the distance measurement may be limited by inaccuracy of the emission angle. Typically, a higher (lower) spatial resolution is achieved the more accurate (less accurate) the radiation angle of the laser light can be determined.

In this case, it is not necessary in various examples for certain emission angles or positions of the movable end of the fiber to be reproducibly converted in different scan positions. It is not necessary to interrupt the scanning process at certain positions of the movable end of the fiber: a continuous step-and-shoot technique may be used instead of a step-and-shoot technique. By accurate measurement of the position of the movable end of the fiber, a LIDAR measurement can rather be implemented at arbitrary emission angles, and by the corresponding information about the emission angle z. B. be interpolated to a fixed angle grid.

Various examples relate to a positioning device arranged to output a signal indicative of the angle of radiation. This means that the positioning device could be arranged to output a signal indicative of the position of the movable end of the optical fiber. For example, it would be possible for applications that rely on scanning the laser light to use the signal from the positioning device to achieve greater accuracy. By the positioning device, it is unnecessary to repeatedly implement certain positions of the end of the fiber: rather, the actual position of the movable end of the fiber or the actual radiation angle can be measured. This reduces the complexity of driving the actuator to position the movable end of the fiber: the actuator may e.g. B. be set to continuously reciprocate the movable end between two extreme positions - such as in contrast to so-called step-and-shoot approaches, where the scanning process is interrupted for the measurement in an intermediate position. The actuator need not be set up to implement certain positions between the extreme positions. The actuator may, for. Example, be arranged to reciprocate the movable end of the fiber between two extreme positions with substantially constant speed. In particular, the actuator may be configured such that when moving the movable fiber between two extreme positions there is no decrease in the speed to zero at intermediate positions.

In some examples, the positioning device may be configured to perform an optical measurement. For example, the positioning device could be configured to optically measure the curvature and / or torsion of the optical fiber. Alternatively or additionally, the positioning device could be designed to optically measure the emission angle of the laser light, for example based on the laser light itself. Such an optical measurement of the position can be particularly particularly accurate. In addition, high sampling frequencies may be possible. This promotes continuous step-and-shoot scanning techniques.

In some examples, the positioning device may be configured to determine the position of the movable end of the optical fiber by a state measurement of the light exiting the optical fiber. In contrast to other indirect techniques - which take into account, for example, a state measurement of the actuator - such a particularly accurate determination of the angle at which the laser light is emitted to take place.

In addition, a particularly rapid determination of the angle at which the laser light is emitted, take place. The sampling frequency at which the positioning device outputs the signal can be particularly high.

In some examples, the positioning device may be configured to determine the position of the movable end of the optical fiber by a state measurement of the optical fiber itself. In contrast to other indirect techniques - which take into account, for example, a state measurement of the actuator - such a particularly accurate determination of the angle at which the laser light is emitted to take place. In addition, a particularly rapid determination of the angle at which the laser light is emitted, take place. The sampling frequency at which the positioning device outputs the signal can be particularly high.

In various examples, the positioning device comprises a PSD. The PSD can z. B. operated based on the lateral photoelectric effect. For this purpose, for example, a PIN diode can be used. Alternatively or additionally, a discrete PSD could also be used. This could for example comprise a plurality of discrete pixels, for example in the form of a CCD sensor or a CMOS sensor. By means of the PSD it may be possible to determine the current angle at which the laser light is emitted. In some examples, a translucent PSD (PSD) may be used to prevent damage.

In various examples, the positioning device comprises at least one fiber Bragg grating. The fiber Bragg grating may correspond to a periodic modulation of the refractive index of a core of an optical fiber. The fiber Bragg grating may have a length in the range of 100 μm-1 mm. A periodicity of the fiber Bragg grating may be in the range of the wavelength of light. When light is incident on the fiber Bragg grating whose wavelength satisfies the Bragg relationship, then a significant portion of the incident light may be reflected. By measuring the amplitude of the reflected light, a change in length of the optical fiber in the region of the fiber Bragg grating can be deduced. For example, the change in length of the optical fiber in the region of the fiber Bragg grating may be caused by a curvature of the optical fiber due to the movement of the free end of the optical fiber. For the evaluation of the reflected light, for example, a spectrometer can be used. However, it would also be possible for the evaluation of the reflected light to use an edge filter which has a bandpass in the region of an edge of the filter curve of the fiber Bragg grating. Thus, different intensities behind the edge filter may be indicative of a change in reflection at the fiber Bragg grating. Appropriate techniques are in DE 10 2009 014 478 B4 disclosed herein, the disclosure of which is incorporated herein by reference.

The actuator may, for. B. be configured to implement a resonant drive. This means that the actuator can be set up to resonantly excite the mass of the end of the optical fiber and other elements in this area, such as further optical fibers and / or lenses, etc. In principle, an eigenmode of first order and / or one or more eigenmodes of higher order can be resonantly excited: This applies to the curvature and / or the torsion of the optical fiber. It would also be possible for the actuator to implement a non-resonant drive.

Various effects can be achieved by the techniques described herein. For example, it may be possible to implement an arrangement that implements the scanning of laser light in a particularly simple, robust and with a small installation space. In particular, compared to reference implementations that use a scanning mirror, the movement of the free end of the optical fiber can be implemented with simple components and very highly integrated. In addition, a wear of a corresponding arrangement in the course of operation may be less strong, as for scanning mirror.

By using a positioning device - in particular with a PSD and / or a fiber Bragg grating - a particularly accurate positioning of the movable end of the optical fiber can be performed. This may in turn make it possible to ensure a high spatial resolution for applications such as the LIDAR technique, which rely on scanning the laser light over the environment. The high spatial resolution can also be achieved for continuous step-and-shoot approaches.

1A illustrates aspects related to a scanned distance measurement of objects 195 . 196 , In particular, illustrated 1A Aspects relating to a distance measurement based on the LIDAR technique.

In 1A is an arrangement 100 pictured, which is an emitter 101 for laser light 191 . 192 includes. The emitter 101 could z. B. be a laser light source and / or one end of an optical fiber that emits laser light. In this case, for example, the laser light could be fed via a connection or an optical coupler into the further end of the optical fiber. The laser light is emitted, for example pulsed (primary radiation). The transit time of a laser light pulse between the emitter 101 , an object 195 . 196 and a detector 102 Can be used to set a distance between the arrangement 100 and the objects 195 . 196 to determine. As a detector 102 For example, a photodiode coupled to a wavelength filter that selectively illuminates light at the wavelengths of the laser light may be employed 191 . 192 lets happen. This can be done by the objects 195 . 196 reflected laser light 191 . 192 (Secondary radiation) are detected. In principle it is possible that the emitter 101 and the detector 102 implemented as separate components; but it would also be possible for the reflected laser light 191 . 192 is detected via the same optics, which is also the emitter 101 is implemented.

The detector 102 can z. B. include an avalanche photodiode. The detector 102 can z. B. be operated by means of photon correlation. Of the detector 102 can z. B. be configured to detect individual photons.

A LIDAR system 103 is provided that with the emitter 101 and the detector 102 is coupled. For example, the LIDAR system may be configured to provide time synchronization between the emitter 101 and the detector 102 to achieve. The LIDAR system 103 can be set up to measure the distance of objects 195 . 196 based on measurement signals coming from the detector 102 be obtained to perform. For example, the LIDAR system 103 be set up to output a signal indicative of the distance and / or positioning of the objects 195 . 196 in terms of the arrangement 100 is. In some examples, the LIDAR system 103 also output a signal indicative of a speed of the objects 195 . 196 and / or a material of the objects 195 . 196 is.

To move between the objects 195 . 196 Being able to distinguish - that is, to provide a spatial resolution - is the emitter 101 set up to the laser light 191 . 192 at different angles 110 radiate. Depending on the angle set 110 this will cause the laser light 191 . 192 either from the object 196 or from the object 195 reflected. By the LIDAR system 103 Information about the respective angle 110 receives, the spatial resolution can be provided. In 1 is the scan area within which the angles 110 can be varied, illustrated with a dotted line.

1B illustrates aspects related to the arrangement 100 , 1B illustrates the arrangement 100 in greater detail than that 1A ,

In the example of 1B is the emitter 101 through a laser light source 599 and a scanning device 500 implemented. For example, the laser light source could 599 a fiber laser or a laser diode. The order 100 also includes an actuator 900 which is set up to the scanning device 500 to press. The scanning device 500 is set up to the laser light 191 . 192 , which from the laser light source 599 is sent out, distracting, so this at different angles 110 is emitted. The scanning device 500 can enable one-dimensional scanning or two-dimensional scanning of the environment.

The actuator 900 is typically electrically operable. The actuator 900 could include magnetic components and / or piezoelectric components. For example, the actuator could include a rotational magnetic field source configured to generate a magnetic field rotating as a function of time.

For controlling the actuator 900 is a controller 950 - For example, an electrical circuit, a microcontroller, an FPGA, an ASIC, and / or a processor, etc. - provided, which is adapted to control signals to the actuator 900 to send. The control 950 is especially set up to the actuator 900 to drive so that this scanning device for scanning a certain angle range 110 actuated. The controller can implement a specific scan frequency. For example, different spatial directions with different scanning frequencies could be scanned. Typical scanning frequencies may be in the range of 0.5 kHz - 2.5 Hz, optionally in the range of 0.7 kHz - 1.5 kHz. The scanning can be done continuously in a continuous step-and-shoot technique.

It is also in 1B a positioning device 560 intended. The positioning device 560 is arranged to output a signal indicative of the angle of emission with which the laser light 191 . 192 is emitted. For this it would be possible, for example, that the positioning device 560 a state measurement of the actuator 900 and / or the scanning device 500 performs. The positioning device 560 For example, the emitted laser light could also be directly emitted 191 . 192 measure up. The positioning device 560 in a simple implementation could also control signals from the controller 950 receive and determine the signal based on the control signals. Combinations of the above techniques are also possible.

The LIDAR system 103 For the scanned distance measurement of the objects, the signal which is emitted by the positioning device 560 is provided. The LIDAR system 103 is also with the detector 102 coupled. Based on the signal from the positioning device 560 and based on that of the detector 102 detected laser light 191 . 192 can the LIDAR system 103 then the distance measurement of the objects 195 . 196 in the environment of the arrangement 100 make. The LIDAR system 103 For example, based on the signal of the positioning device 560 implement the spatial resolution of the distance measurement.

In one example, it would also be possible for the positioning device 560 with the controller 950 of the actuator 900 is connected (in 1B not shown). Then a control loop could be implemented using the scanning device 500 based on the signal of the positioning device 560 is regulated. The control loop could be implemented analog and / or digital. This means that the controller 950 the actuator 900 based on the signal of the positioning device 560 can drive. Then a reproducible Scanning the environment will be enabled. For example, measuring points of the LIDAR measurement can be detected repeatedly at the same emission angles. This can allow a particularly simple evaluation.

2 illustrates aspects related to the arrangement 100 , In particular, illustrated 3 Aspects relating to the scanning device 500 , In the example of 2 includes the arrangement 100 an optical fiber 201 , The light fiber 201 implements the scanning device 500 ,

The light fiber 201 extends along a central axis 202 , The light fiber 202 includes a movable end 205 with an end surface 209 , At one of the movable ends 205 opposite end (in 2 not shown) of the optical fiber 201 becomes the laser light 191 . 192 in the optical fiber 201 fed. A connection can be used for this purpose. For example, the laser light source could 599 at the movable end 205 opposite end of the optical fiber 201 be arranged. The laser light 191 . 192 can then through the light fiber 201 propagate and at the moving end 205 through the endface 209 escape. Part of the laser light may end up 205 be reflected: based on the reflected part could be a transit time measurement in the optical fiber 201 be carried out, for. B. as a reference measurement for the LIDAR distance measurement.

The order 100 also includes a fixation 250 , For example, the fixation 250 be made of plastic or metal. The fixation 250 For example, it could be part of a housing having the movable end 250 the light fiber 201 receives. The case could z. B. a DPAK or DPAK2 housing.

The fixation 250 fixes the fiber optic 201 at a fixation site 206 , For example, the fixation 250 the optical fiber 201 at the fixation site 206 be implemented by a clamp connection and / or a solder connection and / or an adhesive connection. In the area of the fixation site 206 is the light fiber 201 therefore stationary or rigid with the fixation 250 coupled.

In 2 is still a length 203 the light fiber 201 between the fixation site 206 and the movable end 205 shown. Out 2 it can be seen that the movable end 205 opposite the fixation site 206 is spaced. For example, in different examples, the length could be 203 in the range of 0.5 cm-10 cm, optionally in the range of 1 cm-5 cm, further optionally in the range of 1.5-2.5 cm.

The moving end 205 is free in the room. By this distance of the movable end 205 opposite the fixation site 206 can be achieved that the position of the movable end 205 the light fiber 201 opposite the fixation site 206 can be changed. It is possible, for example, the optical fiber 201 in the area between the fixation site 206 and the movable end 205 to bend and / or twist.

3A illustrates aspects related to the arrangement 100 , In particular, illustrated 3A Aspects relating to the scanning device 500 , In the example of 3A includes the arrangement 100 an optical fiber 201 , The light fiber 201 implements the scanning device 500 , The example of 3A corresponds to the example of 2 , 3A shows a dynamic state of the scanning device 500 ,

In the example of 3A is the end 205 the light fiber 201 in a position 301 and a position 302 (dashed line in 3A ). These positions 301 . 302 implement extreme positions of the optical fiber 201 For example, a stop could be provided which would allow further movement of the end 205 about the positions 301 . 302 also prevents (in 3A not shown). The light fiber 201 can be between the positions 301 . 302 move back and forth, z. B. periodically. In the example of 3A corresponds to the position 301 a curvature 311 , The position 302 corresponds to a curvature 321 , The curvatures 311 . 321 have opposite signs.

How out 3A is apparent, depending on the position 301 . 302 the laser light 191 . 192 at different angles, ie a bend angle range 110-1 radiated. To move the fiber optic 201 between the positions 301 . 302 can the actuator 900 be provided (the actuator 900 is in 3A not shown).

While in 3A a one - dimensional movement (in the drawing plane of the 3A ) would also be a two-dimensional motion (with a component perpendicular to the Zeichebne the 3A ) possible.

By providing the bends 311 . 321 in the positions 301 . 302 is achieved that the laser light 191 . 192 over the bend angle range 110-1 is emitted. This makes it possible for the surrounding area of the arrangement 100 by means of the laser light 191 . 192 to scan.

In the example of 3A is also an exemplary radius of curvature 312 for the curvature 311 illustrated. In addition, an exemplary radius of curvature 322 for the curvature 321 illustrated. The radii of curvature 312 . 322 are each about 1, 5 times the size of the length 203 the light fiber 201 between the fixation site 206 and the movable end 205 , In other examples, weaker curves could also be used 311 . 321 or stronger bends 311 . 321 be implemented. This corresponds to weaker curvatures 311 . 321 larger radii of curvature 312 . 322 , especially in terms of length 203 ,

Various implementations are based on the finding that there is a trade-off between a large scan area and small bends 311 . 321 can be desirable. On the one hand, small bends 311 . 321 with respect to a scanning frequency and / or a material fatigue of the optical fiber 201 be worthwhile. On the other hand, large bends 311 . 321 be desirable in relation to a large scan area.

In some examples, it may be possible that the bends 311 . 321 in the positions 301 . 302 depending on the position along the axis 202 the light fiber 201 different radii of curvature 312 . 322 exhibit. For example, it might be possible that near (at a distance from) the end 205 the light fiber 201 larger (smaller) radii of curvature 312 . 322 in the positions 301 . 302 present, or vice versa. For example, it would be possible for the end to be near (spaced from) 205 the optical fiber radii of curvature 312 . 322 in the positions 301 . 302 present a positive (negative) radius of curvature 312 . 322 exhibit. In other words, it would be possible for the bends 311 . 321 each have a turning point. Such a configuration of the curvatures 311 . 321 For example, by a suitable interaction of the actuator 900 with the fiber optic 201 be achieved. For example, could be a force of the actuator 900 at one point on the optical fiber 201 act, which closer to the end 205 , than at the fixation site 206 lies (or closer to the fixation site 206 lies). For example, a second order or higher order curvature mode could be resonantly excited. By means of such techniques can be achieved that a particularly large scan area by means of the laser light 191 . 192 can be scanned.

3B illustrates aspects related to the arrangement 100 , In particular, illustrated 3B Aspects relating to the scanning device 500 , In the example of 3B includes the arrangement 100 an optical fiber 201 , The light fiber 201 implements the scanning device 500 , The example of 3B corresponds to the example of 2 , 3B shows a dynamic state of the scanning device 500 ,

In the example of 3B will be the end 205 the light fiber 201 moved so that the light fiber 201 in the area between the fixation site 206 and the movable end 205 between a first twist 371 and a second twist 372 emotional. This corresponds to a twist of the optical fiber 201 along the central axis 202 ,

By providing the torsions 371 . 372 is achieved that the laser light 191 . 192 over a corresponding torsion angle range 110-2 can be emitted, for. B. in connection with a deflection unit (in 3B not shown, the laser light 191 . 192 opposite the central axis 202 redirects). This corresponds to the operation of a rotatable periscope. This makes it possible for the surrounding area of the arrangement 100 by means of the laser light 191 . 192 to scan.

In turn, a corresponding actuator can be provided, which is set up to handle the various torsions 371 . 372 to implement. For example, the in 3B shown torsions 371 . 372 Extreme positions of the mobile end 205 correspond. It would be possible, for example, that a corresponding stop is provided, the further rotation of the movable end 205 over the torsions 371 . 372 also prevents (in 3B not shown). Alternatively or additionally, it would also be possible for the actuator to be set up for a further rotation of the movable end 205 over the torsions 371 . 372 to avoid. In 3B is still the angle range 110-2 represented, for example, in cooperation with a deflection unit (in 3B not shown) by means of torsion 371 . 372 the mobile end 205 the light fiber 201 can be implemented.

4A illustrates aspects related to the arrangement 100 , In particular, illustrated 4A Aspects relating to the scanning device 500 , In the example of 4A includes the arrangement 100 an optical fiber 201 , The light fiber 201 implements the scanning device 500 ,

The example of 4A basically corresponds to the example of 3A , An appropriate arrangement would be also for the implementation of the 3B by means of torsions 371 . 372 possible. In the example of 4A includes the arrangement 100 continue a lens 400 that are rigid with the fixation 250 connected is. The moving end 205 the light fiber 201 is between the lens 400 and the fixation 250 in a corresponding room 450 arranged.

By means of the lens it is possible to have a divergent beam cross section of the laser light 191 . 192 (in 4A is the beam cross section of the laser light 191 . 192 not shown). In particular, it can be achieved that the beam cross section of the laser light 191 . 192 behind the lens 400 not as Function of the place with increasing distance to the movable end 205 significantly increases. As a result, a particularly high spatial resolution can be provided, for example, in connection with the LIDAR technique. The laser light 191 . 192 is emitted in small solid angles.

While in the example of the 4A an implementation is shown in which the lens 400 stationary with the fixation 250 connected - that is the end 205 the light fiber 201 moves towards the lens 400 In other implementations, it would also be possible for an alternative or additional lens to be stationary or rigid with the end 205 or the area 209 the light fiber 201 is coupled. It would thus be possible to have a particularly simple optical system for avoiding the divergence of the laser light 191 . 192 to enable.

While in the example of the 4A an implementation is shown in which only a single lens 400 In other implementations, it would also be possible to have a larger number of lenses 400 to use, for example, a lens system. For example, at least one condenser lens could be used. It would also be possible for the one or more lenses to implement fisheye optics.

By means of such techniques it may be possible to extend the scan area. In particular, this makes it possible to use the laser light 191 . 192 away from the central axis 202 the fiber 201 in the area of the fixation site 206 to break (as in 4A shown). As a result, by comparatively small deflection in the optical fiber 201 nevertheless a significant scan area can be achieved. This, in turn, may allow the scan frequency at which the actuator 900 the optical fiber 201 between the positions 301 . 302 moved back and forth, increase.

In some examples, for example, it would be possible for the room 450 , in which the light fiber 201 moves, towards the environment 451 airtight is completed. For example, it would be possible in space 450 a negative pressure prevails over the ambient pressure. This can be achieved that the air resistance when moving the optical fiber 201 between the positions 301 . 302 is particularly low. This allows higher scanning frequencies with which the actuator 900 the optical fiber 201 between the positions 301 . 302 moved back and forth, can be achieved. In addition, a material fatigue of the optical fiber 201 be reduced.

4B illustrates aspects related to the lens 400 , In the example of 4B is the focal length 405 the lens 400 as a function of the position perpendicular to the optical axis of the lens 400 shown. Out 4B you can see that the focal length 405 varies as a function of the position perpendicular to the optical axis.

In the example of 4B is still the path 305 presented to the end 205 the light fiber 201 when moving between positions 301 . 302 follows. Out 4B you can see that the focal length 405 the lens 400 the path 305 equivalent. This means that the end 205 the light fiber 201 for different positions 301 . 302 each in the focal plane of the lens 400 located: the variable focal length 405 can the variable distance of the end 205 the light fiber 201 from the lens 400 due to the curvatures 311 . 321 for different positions 301 . 302 compensate. This allows a particularly good collection of divergent laser light 191 . 192 through the lens 400 respectively.

Although in 4B Again, an implementation is shown in which only a single lens 400 In other examples, it would also be possible to use these techniques for more than one lens 400 to implement.

In the examples of 4A such as 4B is each a lens 400 provided, opposite the movable end 205 the light fiber 201 remains stationary. In other examples, it would also be possible that, alternatively or additionally, one or more lenses are provided which are stationary with the movable end 205 are connected and therefore movement of the movable end 205 move with it.

4C illustrates aspects related to the arrangement 100 , In particular, illustrated 4C Aspects relating to a lens 451 that is stationary with the movable end 205 the light fiber 201 connected is. In the example of 4C is the lens 451 adjacent to the movable end 205 appropriate. The example of 4C could with the examples of 4A and 4B be combined.

The Lens 451 For example, it could be a gradient index (GRIN) lens or a ball lens. The Lens 451 For example, it could be glued or spliced. For better support of the lens 451 could be a sleeve in the area of the movable end 205 around the fiber 201 be laid; on this sleeve (in 4C not shown) could be the lens 451 be supported. The Lens 451 For example, it could have a diameter no greater than 500% of the diameter of the optical fiber 201 in the area of the mobile end 205 is, preferably not greater than 250%, more preferably not greater than 150%. For example, the diameter of the lens could be 451 be about 1 mm. By the Lens 451 For example, a diameter of the laser light 191 . 192 of about 10 cm in 100 m can be achieved. This can be achieved that the lens 451 comparatively little mass: this in turn can be achieved that the movement of the movable end 205 is easily possible by the actuator. For example, with a torsion and / or curvature of the movable fiber 201 in the area between the fixation site 206 and the movable end 205 - the Lens 451 the corresponding movement together with the end 205 carry out.

By using the together with the movable end 205 movable lens 451 Different effects can be achieved. On the one hand, it is possible that a complicated and large-scale design of a stationary remaining lens (see 4A and 4B ) can be avoided. Furthermore, it is possible that changes in the optical system caused by the movable end 205 the light fiber 201 and the fixed-remaining lens can be avoided due to, for example, thermal influences induced: For example, an offset between the stationary-remaining lens and the movable end 205 due to thermal expansion or contraction. As a result, a particularly stable construction can be ensured. Furthermore, it may be possible to change the angle under which the light 191 . 192 is radiated, to be determined very precisely. Namely, by eliminating or reducing uncertainty by the spaced-apart stationary lens, it is possible to prevent additional interference from being caused by inaccuracies in the positioning of this spaced-apart stationary lens.

4C further illustrates aspects related to a diverter unit 452 , The deflection unit 452 is stationary with the movable end 205 the light fiber 201 connected. The deflection unit 452 is set up, the light 191 . 192 after exiting the movable end 205 opposite the central axis 202 redirect. Within the light fiber 201 becomes the light 191 . 192 along the central axis 202 guided. In 4C is an angle 452A represented by which the light 191 . 192 opposite the central axis 202 is diverted. In the example of 4C is this angle 452A in about 90 °. In other examples, larger or smaller angles could also be implemented, ranging, for example, from 10 ° to 170 °.

In the example of 4C an implementation is shown in which the lens 451 between the deflection unit 452 and the end 205 the light fiber 201 is arranged. In other examples, it would also be possible for the diverter 452 between the lens 451 and the end 205 the light fiber 201 is arranged.

It is not necessary for the lens 451 always in cooperation with the deflection unit 452 is implemented. It would also be possible examples in which either the lens 451 or the deflection unit 452 is used to get out of the end 205 the light fiber 201 leaking light 191 . 192 to shape.

5 illustrates aspects related to the arrangement 100 , In particular, illustrated 5 Aspects relating to the positioning device 560 , In the example of 5 is the positioning device 560 set up to the movement of the end 205 the light fiber 201 to eat. In particular, the positioning device 560 set up to the curvature 311 . 321 the light fiber 201 to eat. In particular, the positioning device 560 set up to the curvature 311 . 321 the light fiber 201 optically to measure.

This is incident light 591 - z. B. with a different wavelength than the laser light 191 . 192 - used. For example, the light can 591 be provided by a broadband light source. The spectrum of light 591 can z. B. have a spectral width of not less than 50 nm, preferably not less than 150 nm, more preferably not less than 500 nm. Reflected light 592 - sometimes referred to as secondary radiation - is detected by a corresponding detector. The reflected light 592 is indicative of a curvature 311 . 312 the light fiber 201 and thus for the position 301 . 302 of the end 205 , Based on the reflected light 592 then the signal can be provided which is indicative of the curvature 311 . 321 the light fiber 201 is. For example, this signal may be from the LIDAR system 103 be used. Due to the optical measurement of the beam angle under which the laser light 191 . 192 is radiated, to be determined particularly accurately.

In the example of 5 is the positioning device 560 through a fiber Bragg grating 511 implemented. The fiber Bragg grating 511 has an extension parallel to the central axis 202 the fiber 201 on: Along this expansion, the refractive index of the material is periodically modulated. The fiber Bragg grating 511 is in the fiber 201 between the fixation site 206 and the end 205 arranged. By a suitable arrangement of the fiber Bragg grating 511 in the optical fiber 201 can be achieved that the curvature 311 . 321 the light fiber 201 in a change in length of the fiber Bragg grating 511 results. For example, the fiber Bragg grating could 511 spaced from the central axis 202 the light fiber 201 be arranged (in 5 not shown). This change in length of the fiber Bragg grating 511 in turn, may result in a change in the amplitude of the reflected light 592 in the range of wavelengths that satisfy the Bragg condition result. This is the periodicity of the fiber Bragg grating 511 tuned to the wavelength of the light 591 , The positioning device 560 may then be configured to receive the signal based on an amplitude of the reflected light 592 to determine. In particular, it may be possible to determine the amplitude of the reflected light 592 particularly accurate and / or very fast to determine. This may make it possible the curvature 311 . 321 to be determined very precisely. This may in turn make it possible to position the end 205 or the angle 210 in the position to determine very precisely.

The periodicity of the fiber Bragg grating 511 can depend on the wavelength of the laser light 191 . 192 to be different. Therefore, the propagation of the laser light 191 . 192 through the fiber Bragg grating 511 not significantly affected.

The fiber Bragg grating 511 has a length 525 on, in about 80% of the length of the optical fiber 201 between the fixation site 206 and the end 205 equivalent. Other examples would also be possible that the length 525 at least 50% of the length 203 is preferably at least 70%, more preferably at least 90%. By such an extension of the fiber Bragg grating 511 along the length 203 can the curvature 311 . 321 be determined very precisely.

In some examples, it may be possible for the positioning device 560 has an edge filter. By means of the edge filter, it may be possible to determine the amplitude of the reflected light 592 particularly fast to determine. For example, a transmission peak of the edge filter in the region of an edge of the reflection curve of the fiber Bragg grating 511 be arranged. This allows slight changes in length of the fiber Bragg grating 511 lead to a large variation in the amplitude passed through the edge filter. This allows the amplitude of the reflected light 592 be determined accurately and quickly. There may be fast sampling frequencies that indicate the position of the end 205 is determined to be achieved. For example, it would be possible for the positioning device 560 is arranged to update the signal at a sampling frequency which is at least 500 Hz, preferably at least 1 kHz, more preferably at least 1.5 kHz.

In the various examples described herein, it would be possible for the positioning device 560 is arranged to update the signal at a sampling frequency that is at least a factor of 1.5 greater than the scanning frequency at which the actuator 900 the end 205 the light fiber 201 moves, preferably at least a factor of 2, more preferably at least by a factor of 3. This allows a very accurate determination of the angle 110 under which the laser light 191 . 192 is emitted. Continuous step-and-shoot techniques are possible.

6A illustrates aspects related to the arrangement 100 , In particular, illustrated 6A Aspects relating to the positioning device 560 , In the example of 6A is the positioning device 560 through two fiber Bragg gratings 511 . 512 implemented.

The fiber Bragg grating 511 is located in a light fiber 501-1 different from the fiber optic 201 is. The fiber Bragg grating 512 is located in a light fiber 501-2 which is also different from the fiber optic 201 is. In one example, the optical fibers 501-1 . 501-2 on opposite sides 251 . 252 the light fiber 201 at the light fiber 201 appropriate. In another example, a multi-core fiber could be used to connect the optical fiber 201 and the light fibers 501-1 . 501-2 to implement.

The central axes 502-1 . 502-2 the light fiber 501-1 . 501-2 run parallel to the central axis 202 the light fiber 201 , This causes a curvature 311 . 321 the light fiber 201 a corresponding curvature of the optical fiber 501-1 . 501-2 , For example, the curvature causes 311 in the counterclockwise direction (cf. 3A ) a compression of the optical fiber 501-1 and thus a shortening of the fiber Bragg grating 511 ; the curvature 311 Counterclockwise also causes an elongation of the optical fiber 501-2 and thus an extension of the fiber Bragg grating 512 , Due to the eccentric arrangement of the optical fiber 501-1 . 501-2 in relation to the central axis 202 Can this shortening and lengthening the fiber Bragg grating 511 . 512 be particularly significant. This can change the position of the end 205 based on the fibers 511 . 512 reflected light 592 be determined very precisely. Corresponding changes in length can also with a twist 371 . 372 to be watched.

6B illustrates aspects related to the arrangement 100 , In particular, illustrated 6B Aspects relating to the positioning device 560 , In the example of 6B is the positioning device 560 through two fiber Bragg gratings 511 . 512 implemented. The example of 6B is a supervision of the example of 6A ,

6C illustrates aspects related to the arrangement 100 , In particular, illustrated 6C Aspects relating to the positioning device 560 , In the example of 6C is the positioning 560 implemented by four fiber Bragg gratings (in 6C not shown). The example of 6C basically corresponds to the example of 6A . 6B , However, in the example of 6C a larger number of fibers 501-1 - 501-4 with respective fiber Bragg gratings (in 6C not shown), z. B. again as multi-core fibers. By means of the implementation of the 6C especially movements of the end 205 in two dimensions (in the drawing plane of the 6C ) are detected. A two-dimensional scan area can be monitored. For example, the fiber Bragg gratings are in the fibers 501-1 . 501-2 a sensitivity to curvatures along the in 6C with x direction on. For example, the fiber Bragg gratings are in the fibers 501-3 . 501-4 a sensitivity to curvatures along the in 6C with direction y on.

7 illustrates aspects related to the arrangement 100 , In particular, illustrated 7 Aspects relating to the positioning device 560 , In the example of 7 is the positioning device 560 through four fiber Bragg gratings 511 - 514 implemented.

The fiber Bragg grating 511 . 513 are in the fiber 501-1 , The fiber Bragg grating 512 . 514 are in the fiber and 501-2 , In some examples, it would also be possible to have more than two serially connected fiber Bragg gratings in the respective fibers 501-1 . 501-2 . 201 are located (compare 8A ).

By using different lattice constants for each serially connected fiber Bragg gratings 511 - 514 Can the individual fiber Bragg grating 511 - 514 individually controlled. For this purpose, enough broadband light can be used.

In particular for a case in which the radius of curvature as a function of the position along the length of the fiber 201 is variable, can then by a comparison of the amplitudes of the serially arranged fiber Bragg gratings 511 . 513 respectively. 512 . 514 reflected light 592 a particularly accurate determination of the position of the end 205 the light fiber 201 respectively. For example, it would be possible, based on a difference in the amplitudes of the serially arranged fiber Bragg gratings 511 . 513 respectively. 512 . 514 reflected light 592 the signal indicative of the position 301 . 302 of the end 205 the light fiber 201 is from the positioning device 560 is determined.

8B illustrates aspects related to the arrangement 100 , In particular, illustrated 8B Aspects relating to the positioning device 560 , In the example of 8B is the positioning device 560 through a PSD 552 implemented. The PSD 552 can be implemented isotropically or discretely. For example, the PSD 552 include several pixels or z. B. include a PIN diode.

In the example of 8B includes the arrangement 100 the Lens 451 which is stationary with the movable end 205 the light fiber 201 connected is. The PSD 552 is set up to the laser light 191 . 192 which is from the end 205 the light fiber 201 exit, measure. The PSD 552 measures the position of the laser light 191 . 192 on his sensor surface. This is a lens 551 provided the light 191 . 192 on the sensor surface of the PSD 552 focused. The order 100 furthermore includes a beam splitter 801 , Also the beam splitter 801 is stationary with the end 205 the light fiber 201 connected. The beam splitter 801 is set up to a partial beam path 802 of the light 191 . 192 to the PSD 552 to steer.

By an appropriate arrangement of the PSD 552 in terms of the moving end 205 can be achieved that the position of the light spot on the sensor surface of the PSD 552 indicative of the position of the movable end 205 the light fiber 201 or for the exit angle of the laser light 191 . 192 is. Therefore, based on this large measurement, the signal indicative of the position of the movable end can be provided 205 is, and in particular indicative of the curvature 311 . 321 and / or the twist 371 . 372 the light fiber 201 in the area between the fixation site 206 and the movable end 205 is. The signal can be indicative of the exit angle of the laser light 191 . 192 be.

By the arrangement of the beam splitter 801 in the beam path of the exiting laser light 191 . 192 behind the lens 451 can be achieved that when measured by the PSD 552 possible influences of the lens 451 be taken into account. For example, an offset of the exiting laser light 191 . 192 due to the geometry of the attachment of the lens 451 at the movable end 205 be taken into account. In particular, such a drift over the life due to a time-variable offset of the exiting laser light 100 a 90 . 192 be taken into account. The long-term stability can be increased thereby.

8C illustrates aspects related to the arrangement 100 , In particular, illustrated 8C Aspects relating to the positioning device 560 , In the example of 8C is the positioning device 560 through a PSD 552 implemented.

The example of 8C basically corresponds to the example of 8B , In the example of 8C is the beam splitter 801 between the Return unit 452 and the lens 451 arranged. In other examples, it would also be possible that, for example, the diverter unit 452 between the beam splitter 801 and the lens 451 is arranged.

9 illustrates aspects related to the arrangement 100 , In particular, illustrated 9 Aspects related to the actuator 900 , In the example of 9 included actuator 900 a coil arrangement 901 which includes conductor windings and is adapted to provide a magnetic field in the region of the optical fiber 201 to create. The light fiber 201 is with a magnetic material 903 coated, z. B. by sputtering. It would also be possible to glue or solder a magnet, etc. The magnetic material is z. B. ferromagnetic or paramagnetic or diamagnetic.

In addition, included actuator 900 a guide along which the end 205 is guided one-dimensionally. This means that the actuator 900 according to the example of 9 is set up to the light fiber 205 one-dimensional scan. By applying a time-varying current to the coil assembly 901 can be in the range of magnetic material 903 a time-varying magnetic field can be generated. This will make the light fiber 205 along the guide 902 deflected. The light fiber 205 especially between the positions 301 . 202 be scanned.

It would be possible that the controller is set up to use the actuator 900 to drive, so that this the end 205 the light fiber 201 between the reversal positions 301 . 302 scans with a scan frequency of at least 500 Hz, optionally of at least 700 Hz, further optionally scans of at least 1.2 kHz. Scanning in the various examples described herein may mean that the controller 950 the actuator 900 repeatedly activates, allowing this for several repetitions or periodically the movement of the end 205 causes.

In other examples, it would also be possible for the actuator 900 is set up to the light fiber 201 scan two-dimensionally. The leadership 902 can then be dispensable.

10A illustrates aspects related to the arrangement 100 , In particular, illustrated 10A Aspects related to the actuator 900 , in the example of 10A includes the actuator 902 orthogonal coil pairs 901 (in 10A is just a coil pair 901 shown; the further orthogonal coil pair is arranged in a plane perpendicular to the plane of the drawing). By alternately energizing the orthogonal coil pairs 901 can be a two-dimensional movement of the end 205 the light fiber 201 be achieved.

10B illustrates aspects related to the arrangement 100 , In particular, illustrated 10B Aspects related to the actuator 900 , in the example of 10B includes the actuator 902 on the opposite sides 251 . 252 the light fiber 201 attached levers 951 . 952 , The levers 951 . 952 extend perpendicular to the central axis 202 the light fiber 201 , The levers 951 . 952 For example, could be made of plastic, silicon, glass, etc. On the levers 951 . 952 is spaced from the central axis 202 one magnet each 903 intended. This can be done by a through the coils 901 generated magnetic field an eccentric deflection of the lever 951 . 952 in relation to the central axis 202 respectively. This can create a torque on the fiber 201 Act. As a result, in particular a torsion of the fiber 201 in the area between the fixation site 206 and the movable end 205 be effected.

10C illustrates aspects related to the arrangement 100 , In particular, illustrated 10C Aspects related to the actuator 900 , In the example of 10C includes the actuator 900 a rotary magnetic field source (in 10C not shown), which is adapted to a magnetic field 961 which, as a function of time, is perpendicular to the central axis 202 the fiber 201 defined level (drawing plane of 10C , above) rotates. In 10C is an angle 962 plotted the magnetic field 961 at any two points in time.

In the example of 10C includes the actuator 900 still two magnets 903 , The magnets 903 could be on the fiber optic 201 be glued on. Sputtering would be possible. The magnets 903 could be formed as thin films. A first magnet 903 is on the side 251 the fiber 201 arranged. A second magnet 903 is on the opposite side 252 the fiber 201 arranged. The two magnets 903 are poled in opposite directions. In the example of 10C is the magnetization of the first magnet 903 (in 10C on the left side) out of the plane of the drawing; the magnetization of the second magnet 903 (in 10C shown in time) is oriented in the drawing plane. That's why the magnetic field works 961 oppositely oriented force effects in the plane perpendicular to the central axis 202 (Plane of the 10C ). As a result, in particular a torsion of the fiber 201 in the area between the fixation site 206 and the movable end 205 be effected.

By sizing the angle 962 The scanning area may be due to the torsion of the optical fiber 201 be set. This is in 10C , illustrated below. In 10C Below is the course of the angle 962 of the rotating magnetic field 961 represented as a function of time. Out 10C is clear, that angle 962 is varied periodically between maximum values. The twist of the fiber 201 For example, follow the angle 962 such that the angular range defined by the torsion 110-2 the stroke of the angle 962 equivalent.

For example, as a rotary magnetic field source, a system of a plurality of coils whose coil axes include angles of, for example, 120 ° with each other could be used. By time-delayed driving of the coils thereby the rotating magnetic field can be generated.

11 illustrates aspects related to the arrangement 100 , In particular, illustrated 11 Aspects related to the actuator 900 , In the example of 11 includes the actuator 902 on the different sides 251 . 252 the light fiber 201 attached piezoelectric conductors 913 , When impressing a current flow through the piezoelectric conductor 913 These change their length, so the curvature 311 . 312 or the movement of the optical fiber 201 between the positions 301 . 302 results.

12A illustrates aspects related to the arrangement 100 , In the example of 12A includes the arrangement 100 the laser 599 , the broadband light source 1201 for generating the light 591 having a wavelength tuned to the grating periodicity of the one or more fiber Bragg gratings 511 - 516 , as well as a detector 1202 that reflects the light reflected from the one or more fiber Bragg gratings 592 can detect. For example, the detector 1202 have one or more edge filters. The order 100 also includes a multiplexer 1250 which is set up to receive the laser light 191 . 192 the laser light source 599 , as well as the light 591 the broadband light source 1201 in the optical fiber 201 couple. The multiplexer 1250 may also be the light reflected from the one or more fiber Bragg gratings 592 to the detector 1202 to steer.

While in the example of the 12A a scenario is presented in which only the light fiber 201 present would be examples with multiple dedicated optical fibers 501-1 - 501-4 for the fiber or Bragg gratings discussed above, respectively.

In the example of 12A is the scanning device with the movable end 205 the light fiber 201 spaced from the light sources 599 . 1201 arranged. For example, the length of the optical fiber 201 at least 0.1 m, optionally at least 0.5 m, further optionally at least 2 m. This allows flexible positioning of the scanning device 500 opposite the laser light source 599 and / or the broadband light source 1201 , In particular, the scanning device 500 be integrated very space-saving. For compensation of the transit time within the optical fiber 201 can change the duration of the laser light in the optical fiber 201 be measured. For this example, the reflection of the laser light 191 . 192 at the end 205 the light fiber 201 Im used to be in area of the laser light source 599 by means of a corresponding detector to measure the reflected laser light.

In the example of 12A could the detector 102 to detect the of the objects 196 . 195 in the environment of the arrangement 100 reflected laser light 191 . 192 for example, next to the scanning device 500 be arranged (in 12A is the detector 102 not shown). In such an example, it would be possible for the detector 102 outputs an electrical signal. Therefore, it is not necessary that the signal of the reflected light through the optical fiber 201 is returned.

12B illustrates aspects related to the arrangement 100 , In the example of 12B the detection of the objects takes place 196 . 195 reflected laser light 191 . 192 about the optics of the scanning device 500 , For example, the reflected light could be 195 . 196 over the lens 400 or over the lens 451 in the optical fiber 201 be coupled or fed back. Then it is possible that the detector 102 behind the multiplexer 1250 is arranged. The example of 12B could use fiber bragg sensors 1201 . 1202 according to 12A be combined.

Typically, the highest intensity of the reflected laser light occurs 195 . 196 along the same optical path along which the primary of the optical fiber 201 decoupled laser light 191 . 192 the corresponding object 195 . 196 reached. Therefore, a technique according to 12B have a particularly high sensitivity.

In an example according to 12B It may be desirable if the speed of movement of the movable end 205 the light fiber 201 is limited. In particular, it can be ensured in such a way that directly reflected laser light 191 . 192 in the optical fiber 201 Can couple before the movable end 205 the light fiber 201 has moved on.

Typical distances between the moving end 205 the light fiber 201 and the objects 195 . 196 For example, they can range from 100 meters to 200 meters. Therefore, it may be desirable if the controller 950 is set to scan frequencies in the range of 500 Hz to 2.5 kHz when driving the actuator 900 to implement, optionally in the range of 700 Hz to 1.5 kHz.

Typically, the eigenmodes have the motion of the region of the optical fiber 201 between the fixation site 206 and the movable end 205 Natural frequencies in the corresponding frequency range. Therefore, it may be possible to use a resonant drive of the optical fiber 201 while allowing the coupling of the reflected laser light 191 . 192 via the same optical path is possible.

12C illustrates aspects related to the arrangement 100 , In the example of 12C is the detector 102 for the reflected laser light 191 . 192 separately from the scanning device 500 implemented. In particular, there is no detection of in the optical fiber 201 fed back, reflected laser light 191 . 192 instead of. Such an arrangement makes it possible to use particularly large converging lenses to a detector 102 to implement with great sensitivity.

The example of 12C could use fiber bragg sensors 1201 . 1202 according to 12A be combined.

13 illustrates aspects related to the arrangement 100 , In the example of the 13 are two light fibers 201-1 . 201-2 and two scanning devices 500-1 . 500-2 available. This makes it possible to use the light sources 599 . 1201 for scanning different environments using multiple scanning devices 500-1 . 500-2 to use again. For example, the scanning device could 500-1 be attached to a front of a vehicle and the scanning device 500-2 be attached to the back of a vehicle.

In the example of 13 are the light fiber 201-1 . 201-2 with the multiplexer 1250 connected. It would also be a coupling of the optical fibers 201-1 . 201-2 over a fiber switch 1400 conceivable (compare 14 ).

The examples of 13 and 14 could use fiber bragg sensors 1201 . 1202 according to 12A be combined.

15 is a flowchart of a method according to various examples. In block 5001 Laser light is fed into a second end of an optical fiber.

In block 5002 the opposite first end of the optical fiber is moved. Continuous step-and-shoot techniques can be used. The movable first end of the optical fiber can be moved in such a way that a curvature and / or torsion of the optical fiber in the region of the movable end is achieved. As a result, the angle at which laser light is emitted from the optical fiber can be changed.

In block 5003 is optionally a LIDAR distance measurement based on the in block 5002 Implemented environment scanning implemented by the laser light. Also, applications such as projecting light or endoscopy could be implemented.

16 illustrates aspects related to the movement of the mobile end 205 the light fiber 201 , In the example of 16 is the amplitude of the deflection of the optical fiber 201 for different positions between the fixation site 206 and the movable end 205 shown. In the example of 16 is the amplitude of the deflection of the optical fiber 201 for the eigenmode of the first order (solid line) and the eigenmode of the second order (dashed line). Out 16 It can be seen that by means of the second order eigenmode smaller radii of curvature and thus larger angles 110-1 under which the laser light 191 . 192 is radiated, can be implemented. Typically, the second order eigenmode has a higher natural frequency than the first order eigenmode. In addition, it was observed that the material loading of the material of the optical fiber 201 is lower for the eigenmode of second order than for the eigenmode of first order. Especially in the area of the fixation site 206 a lower material load could be achieved in connection with the second-order eigenmode. In some examples it is therefore possible that the actuator 900 is set up to the light fiber 201 resonantly in the eigenmode of second order or higher.

17 illustrates aspects related to the arrangement 100 , In the example of 17 includes the arrangement 100 a housing 1700 which is a translucent element 1701 having. That from the moving end 205 the light fiber 201 emerging laser light 191 . 192 can through the translucent element 1701 - For example, a plastic disc or a glass - emerge. In some examples, the translucent element 1701 have a refractive power and thus implement a lens (in 17 not shown). For example, the translucent element 1701 through the lens 400 (see 4A . 4B ).

In the example of 17 is the area where the moving end is 205 the light fiber 201 moved evacuated. This means that the room 450 between the translucent element 1701 and the fixation 250 is formed airtight. This allows the movement of the movable end 205 be implemented without air friction. In addition, external interference can be avoided.

For example, the housing could 1700 have a passive temperature compensation. For example, the housing could 1700 Have heat storage, which can reduce strong temperature fluctuations.

For example, the housing could 1700 have an active and / or passive shock absorption. This could cause power surges from outside the assembly 100 absorbed or reduced in amplitude, thus negatively affecting the movement of the movable end 205 the light fiber 201 can be reduced.

In the example of 17 are the laser light source 599 and the detector 102 also in the case 1700 arranged. In other examples, the laser light source could 599 and / or the detector 102 outside the case 1700 be arranged. In such a case, it would be possible for the case 100 having an optical plug contact.

18 illustrates aspects relating to the two-dimensional scanning of an environment area extending along two orthogonal spatial directions x, y. In the example of 18 becomes an environment area 1800 scanned, which has two-dimensional extent. The surrounding area 1800 can z. B. obtained by a Lissajous pattern from the superposition of two one-dimensional scanning processes.

The torsion angle range 110-2 This is due to the torsion of the optical fiber 201 in the area between the fixation site 206 and the movable end 205 reached. The torsion angle range 110-2 is greater than the bend angle range 110-2 by the curvature of the optical fiber 201 is reached. It has been observed that particularly good results can be achieved when the torsion angle range 110-2 by at least a factor of 2 is greater than the curvature angle range 110-1 , optionally by at least a factor of 3.5, further optionally by at least a factor of 5.

For example, the torsion angle could be 110-2 > 90 °, optional> 140 °, further optional> 170 °. A smaller angle range 110-1 is due to the curvature of the optical fiber 201 in the area between the fixation site 206 and the movable end 205 reached. For example, the curvature angle range could be 110-1 between 10 ° and 60 °.

Such an implementation of the environment area 1800 is based on the knowledge that due to the torsion of the optical fiber 201 a particularly efficient scanning of large angular ranges 110-2 can be achieved. In particular, in such an implementation, the direct feedback of reflected laser light 191 . 192 simply be made possible. At the same time, by combining with the curvature of the optical fiber 201 a two-dimensional scanning will be possible.

Of course, the features of the previously described embodiments and aspects of the invention may be combined. In particular, the features may be used not only in the described combinations but also in other combinations or per se, without departing from the scope of the invention.

While various examples have been described above with respect to a LIDAR application, in other examples it would also be possible to implement other applications. Examples include, for. B. a projector with a RGB light source, etc.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009014478 B4 [0064]

Cited non-patent literature

• Leach, Jeffrey H., Stephen R. Chinn, and Lew Goldberg. "Monostatic all-fiber scanning LADAR system." Applied optics 54.33 (2015): 9752-9757 [0006]
• Mokhtar, MHH, and RRA Syms. "Tailored fiber waveguides for precise two-axis Lissajous scanning." Optics express 23.16 (2015): 20804-20811 [0006]

Claims (10)

Arrangement ( 100 ), which comprises: - an optical fiber ( 201 . 201-1 . 201-2 ) with a first end ( 205 ) and a second end, - a fixation ( 250 ), which the light fiber ( 201 . 201-1 . 201-2 ) at a fixation site ( 206 ) between the first end ( 205 ) and the second end, - a connector adapted to light ( 191 . 192 ) into the second end of the optical fiber ( 201 . 201-1 . 201-2 ), - at least one actuator ( 900 . 901 - 903 . 913 ), which is adapted to the optical fiber ( 201 . 201-1 . 201-2 ) in the area between the fixation site ( 206 ) and the first end ( 205 ) between a first twist ( 371 . 372 ) and a second twist ( 371 . 372 ), and - a LIDAR system ( 103 ), which is set up based on the light ( 191 . 192 ) a scanned distance measurement of objects ( 195 . 196 ) in the vicinity of the arrangement ( 100 ). Arrangement ( 100 ) according to claim 1, further comprising: - a lens ( 451 ), which are stationary with the first end ( 205 ) of the optical fiber ( 201 . 201-1 . 201-2 ), and - a deflection unit ( 452 ), which are stationary with the first end ( 205 ) of the optical fiber ( 201 . 201-1 . 202-2 ) and which is adapted to the light ( 191 . 192 ) with respect to the central axis ( 202 ) of the optical fiber ( 201 . 201-1 . 201-2 ) to divert. Arrangement according to claim 1 or 2, wherein the at least one actuator ( 900 . 901 - 903 . 913 ) is further adapted to the optical fiber ( 201 . 201-1 . 201-2 ) in the area between the fixation site ( 206 ) and the first end ( 205 ) between a first curvature ( 311 . 321 ) and a second curvature ( 311 . 321 ) to move. Arrangement according to claim 3, wherein the at least one actuator ( 900 . 900 - 903 . 913 ) is adapted to the optical fiber ( 201 . 201-1 . 201-2 ) between the first curvature ( 311 . 321 ) and the second curvature ( 311 . 321 ) to resonantly move in a second order or higher eigenmode. Arrangement ( 100 ) according to claim 3 or 4, further comprising: - a controller ( 950 ) which is set up to control the at least one actuator ( 900 . 901 - 903 . 913 ), so that this the light fiber ( 201 . 201-1 . 201-2 ) over a torsion angle range ( 110-2 ) between the first twist ( 371 . 372 ) and the second torsion and over a range of curvature angle ( 110-1 ) between the first curvature ( 311 . 321 ) and the second curvature ( 311 . 321 ), wherein the torsion angle range ( 110-2 ) is at least a factor 2 greater than the bend angle range ( 110-1 ), optionally further by at least a factor of 3.5, the torsional angular range ( 100-2 ) is optionally greater than 90 °, optionally greater than 140 °, further optionally greater than 170 °. Arrangement ( 100 ) according to any one of the preceding claims, further comprising: - a positioning device ( 560 ) arranged to output a signal indicative of a light emitting angle ( 191 . 192 ) from the arrangement ( 100 ), wherein the positioning device is set up to control the angle of emission of the light ( 191 . 192 ) to be measured optically. Arrangement ( 100 ) according to claim 6, wherein the positioning device ( 560 ) a position-sensitive detector ( 552 ), PSD that is set up to be the first ( 205 ) of the optical fiber ( 201 . 201-1 . 201-2 ) exiting light ( 191 . 192 ), the positioning device ( 560 ) further comprises a beam splitter ( 801 ) which is stationary with the end ( 205 ) of the optical fiber ( 201 . 201-1 . 201-2 ) and which is adapted to a partial beam path ( 802 ) of the first end ( 205 ) of the optical fiber ( 201 . 201-1 . 201-2 ) emerging light ( 191 . 192 ) to the PSD. Arrangement ( 100 ) according to claim 6 or 7, wherein the positioning device ( 560 ) at least one fiber Bragg grating ( 511 - 516 ). Arrangement ( 100 ) according to claim 8, further comprising: - at least one further optical fiber ( 501-1 . 501-2 ) connected to the optical fiber ( 201 . 201-1 . 201-2 ) and parallel to it, wherein the at least one fiber Bragg grating ( 511 - 516 ) in the at least one further optical fiber ( 201 . 201-1 . 201-2 ) is arranged. Arrangement ( 100 ) according to any one of the preceding claims, wherein the at least one actuator ( 900 . 901 - 903 . 913 ) at least one eccentrically deflected lever ( 951 . 952 ) perpendicular to a central axis ( 202 ) of the optical fiber ( 201 . 201-1 - 201-2 ), and / or wherein the at least one actuator ( 900 . 901 - 903 , 913) comprises at least one rotary magnetic field source and two counter-poled magnets arranged on different sides ( 251 . 252 ) of the optical fiber ( 201 . 201-1 . 201-2 ) are arranged.

Images