CN113348377A - Lidar sensor and method for optical detection of a field of view - Google Patents
Lidar sensor and method for optical detection of a field of view Download PDFInfo
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- CN113348377A CN113348377A CN201980090334.3A CN201980090334A CN113348377A CN 113348377 A CN113348377 A CN 113348377A CN 201980090334 A CN201980090334 A CN 201980090334A CN 113348377 A CN113348377 A CN 113348377A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims description 12
- 238000001514 detection method Methods 0.000 title abstract description 8
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims 1
- 239000013078 crystal Substances 0.000 description 5
- 210000000695 crystalline len Anatomy 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010287 polarization Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 206010034016 Paronychia Diseases 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000006059 cover glass Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000001525 retina Anatomy 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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Classifications
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G02—OPTICS
- G02F—OPTICAL DEVICES OR ARRANGEMENTS FOR THE CONTROL OF LIGHT BY MODIFICATION OF THE OPTICAL PROPERTIES OF THE MEDIA OF THE ELEMENTS INVOLVED THEREIN; NON-LINEAR OPTICS; FREQUENCY-CHANGING OF LIGHT; OPTICAL LOGIC ELEMENTS; OPTICAL ANALOGUE/DIGITAL CONVERTERS
- G02F1/00—Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics
- G02F1/35—Non-linear optics
- G02F1/353—Frequency conversion, i.e. wherein a light beam is generated with frequency components different from those of the incident light beams
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Nonlinear Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Lidar sensor (100) for optical detection of a field of view (106), the sensor having at least one transmitting unit (101) for emitting primary light (104) into the field of view (106); at least one receiving unit (110) for receiving secondary light (109) within the field of view (106) that has been reflected by the object (107); wherein the receiving unit (110) has a detector unit (113) with at least one detector element (114) and detector optics (112) with a non-linear optical element (201). The nonlinear optical element (201) is designed to double the frequency of the received secondary light (109) and to direct the frequency-doubled secondary light (111) to the detector unit (113).
Description
Technical Field
The present invention relates to a lidar sensor and a method for optical detection of a field of view according to the preambles of the independent claims.
Background
US2007/0159683a1 discloses a method for producing a frequency shift in an optical path by means of a laser source with pulsed emission. The optical path length of at least one frequency-shifting module containing an optical propagation carrier varies periodically according to a desired frequency shift during every nth laser beam emission pulse, where n ≧ 1, which is implemented by: a control voltage or mechanical load is applied to the module(s), which voltage and load evolve linearly according to time during this nth pulse.
Disclosure of Invention
The invention is based on a lidar sensor for optical detection of a field of view. The sensor has at least one transmitting unit for emitting primary light into a field of view; and at least one receiving unit for receiving secondary light that has been reflected by the object within the field of view. The receiving unit has a detector unit with at least one detector element and detector optics with a nonlinear optical element.
According to the invention, the nonlinear optical element is designed to double the frequency of the received secondary light (verdoppeln) and to direct the frequency-doubled secondary light to the detector unit.
With a lidar sensor, the distance between the lidar sensor and an object within the field of view of the lidar sensor can be determined based on the Time of Flight (TOF). With the aid of a lidar sensor, the distance between the lidar sensor and an object within the field of view of the lidar sensor can be determined on the basis of a Frequency Modulated Continuous Wave (FMCW) signal. The field of view of the lidar sensor can be scanned by means of the emitted primary light. The transmitting unit may be designed as at least one laser. The detector unit of the receiving unit may be configured to detect the received secondary light. The lidar sensor optionally has at least one evaluation unit. The detected secondary light can be evaluated by means of the evaluation unit. The result of this analysis processing may be used for a driving assistance function of the vehicle, for example. The results of this analysis processing can be used, for example, to control an autonomously traveling vehicle. The lidar sensor may be designed for use in an at least partially autonomous vehicle. By means of the lidar sensor, a partially autonomous or autonomous driving of the vehicle on highways and in urban traffic can be achieved.
The advantage of the invention is that a transmitting unit for emitting primary light of a higher wavelength can be combined with a low-cost receiving unit. In contrast to known lidar sensors, which for example emit primary light with a wavelength of 905nm, a transmitting unit for emitting primary light with a wavelength of more than 905nm can be used in the lidar sensor described herein. The higher the wavelength of the emitted primary light, the higher the power of the emitted primary light is allowed, taking into account the eye safety of the lidar sensor. This is caused by the following reasons: the primary light of higher wavelengths cannot penetrate the retina of the human eye and is therefore not focused by the crystalline lens. The eye safety of a lidar sensor may be predefined by a standard such as IEC 60825-1. If the primary light of the lidar sensor is emitted at a higher power, advantages are brought to the detection field of view. This can, for example, increase the line of sight of the lidar sensor. This is particularly advantageous when such a lidar sensor is used in an at least partially autonomous vehicle.
By doubling the frequency of the received secondary light (freqenzverdopping) and halving the wavelength of the secondary light, it is also possible to use at least one detector element configured for detecting secondary light of shorter wavelength. Such detector elements are available at lower cost. However, such detector elements are mostly only poorly or even not at all capable of detecting higher wavelengths. The use of costly detector elements configured for detecting secondary light of higher wavelengths can be avoided with the described lidar sensor. Cooling of such detector elements during operation can be avoided.
The present invention can be used for various concepts of lidar sensors. The lidar sensor may be designed coaxially or biaxially, for example. For the scanning detection of the field of view, the lidar sensor may have a deflection device, for example a micromirror. For scanning detection of the field of view, at least one component of the lidar sensor may also be moved by means of the rotor-stator unit.
In an advantageous embodiment of the invention, it is provided that the nonlinear optical element is arranged in direct contact with the detector unit. This configuration has the advantage that further optical elements can be avoided. For example, cover glass (Deckglas) of the receiving unit can be avoided. A compact construction can be achieved.
In a further advantageous embodiment of the invention, it is provided that the detector optical element additionally has at least one optical lens, which is designed to focus the received secondary light into the nonlinear optical element. The advantage of this configuration is that the energy density in the beam required for doubling the frequency can be obtained inside the nonlinear optical element. A high field strength of the secondary light can be achieved at the focal point.
In a further advantageous embodiment of the invention, provision is made for the nonlinear optics to be arranged in a manner that is independent of the optical axis of the light sourceThe element is configured as a nonlinear crystal. It may be, for example, AgGaS2And (4) crystals. The advantage of this configuration is that the frequency doubling in the nonlinear crystal leads to a nonlinearity of the entire lidar sensor system. Thereby enabling suppression of background radiation (e.g., solar radiation). Preferably capable of detecting pulsed secondary light. A passive filter for pulsed light can thus be constructed. In addition, the frequency of the nonlinear crystal can be doubled and limited in a narrow wavelength range. This may depend on the kind of nonlinear crystal. This makes it possible to avoid a wavelength filter which may be required in the receiving unit of the lidar sensor.
In a further advantageous embodiment of the invention, it is provided that a resonator is arranged around the nonlinear optical element. This configuration has the advantage of being able to reinforce
The frequency is doubled. By installing lambda/2 plates into the resonator for the wavelengths used by the lidar sensor: the polarization of the secondary light is rotated in each cycle (Umlauf). This enables the entire received secondary light to be doubled in frequency as much as possible.
In a further advantageous embodiment of the invention, it is provided that the detector unit is designed as a semiconductor detector unit. The detector unit may be silicon-based, for example. The advantage of this configuration is that the semiconductor detector can operate with high efficiency in the range of detectable wavelengths.
The invention is further based on a method for optically detecting a field of view by means of a lidar sensor, comprising the following steps: emitting primary light into the field of view by means of a transmitting unit; receiving, by means of a receiving unit, secondary light that has been reflected by the object within the field of view; wherein the receiving unit has a detector unit with at least one detector element and detector optics with a non-linear optical element. According to the invention, the method additionally has the steps: doubling the frequency of the received secondary light; the doubled secondary light is directed to the detector unit by means of a non-linear optical element.
Drawings
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Like reference numbers in the figures refer to identical or functionally similar elements. The figures show:
FIG. 1: one embodiment of a lidar sensor according to the present disclosure is shown;
FIG. 2: a first embodiment of a receiving unit of a lidar sensor is shown;
FIG. 3: a second embodiment of a receiving unit of a lidar sensor is shown;
FIG. 4: one embodiment of a method according to the invention for optically detecting a field of view by means of a lidar sensor is shown.
Detailed Description
Fig. 1 shows an embodiment of a lidar sensor 100 according to the invention in the form of a schematic block diagram. Lidar sensor 100 is configured for optically detecting a field of view 106, particularly for work equipment, vehicles, and the like. The lidar sensor 100 according to fig. 1 has a transmitting unit 101 for emitting primary light 104. The transmission unit has, for example, a light source unit 102. The light source unit 102 generates primary light 104 and emits it (after passing through beam shaping optics 105, if necessary) into a field of view 106 for detecting and/or inspecting a scene 108 and an object 107 located there. Furthermore, lidar sensor 100 according to fig. 1 has a receiving unit 110, which transmits light, in particular light reflected by object 107 in field of view 106, as secondary light 109 via a detector optical element 112 to a detector unit 113 having at least one detector 114 as secondary light 111, which has a doubled frequency. Two embodiments of the receiving unit 110 are described more precisely in fig. 2 and 3. The control of the light source unit 102 and the detector unit 113 takes place by means of a control and evaluation unit 115 via control lines 117 and 116.
The transmitting unit 101 and the receiving unit 110 may be arranged biaxial as shown in fig. 1. The transmitting unit 101 and the receiving unit 110 may alternatively be arranged coaxially. In the case of a coaxial arrangement, the elements of the beam shaping optics 105 can also be configured as elements of the detector optics 112, and vice versa. The transmitting unit 101 may have a deflection device, not shown here, for deflecting the primary light 104 into the field of view 106. The primary light 104 can be deflected by the deflection means of the transmission unit 101 into the field of view 106 at a predefined deflection angle. The receiving unit 110 may have a deflection device, not shown here, for deflecting the secondary light 109 onto the detector unit 113. The secondary light 109 incident at different angles can be deflected by the deflection means of the receiving unit 110 onto the detector unit 113. The transmitting unit 101 and the receiving unit 110 may have a common deflection device. Alternatively, the transmitting unit 101 and the receiving unit 110 may be arranged on the rotatable unit 118. It is also possible to arrange individual elements of the transmitting unit 101 and/or individual elements of the receiving unit 110 on the rotatable unit 118.
Fig. 2 shows a first exemplary embodiment of a receiving unit 110 of lidar sensor 100 depicted schematically in fig. 1. The receiving unit 110 has a detector unit 113 and a detector optical element 112 with a nonlinear optical element 201. The nonlinear optical element 201 is configured to: the frequency of the received secondary light 109 is doubled and the frequency doubled secondary light 111 is directed to a detector unit 113.
As shown in fig. 2, the non-linear optical element 201 is preferably arranged in direct contact with the detector unit 113. The detector optics 112 may additionally have at least one optical lens 202, which is designed to focus the received secondary light 109 into the nonlinear optical element 201.
Fig. 3 shows a second exemplary embodiment of a receiving unit 110 of lidar sensor 100, which is illustrated in fig. 1. This embodiment differs from the embodiment described in fig. 2 only in that: a resonator 301 is additionally arranged around the nonlinear optical element. This can be achieved: the frequency doubling can be enhanced. An optionally present lambda/2 plate in the resonator, not shown here, enables: the polarization of the secondary light is rotated in each cycle. This enables the entire received secondary light to be doubled in frequency as much as possible.
Fig. 4 shows an embodiment of a method 400 according to the invention for optically detecting a field of view by means of a lidar sensor. The method starts in step 401. In step 402, a primary light is emitted into the field of view by means of a transmitting unit. In step 403, secondary light that has been reflected by the object within the field of view is received by means of the receiving unit. The receiving unit has a detector unit with at least one detector element and detector optics with a nonlinear optical element. In step 404, the frequency of the received secondary light is doubled. In step 405, the frequency doubled secondary light is directed to the detector unit by means of a non-linear optical element. The method ends at step 406.
Claims (6)
1. A lidar sensor (100) for optically detecting a field of view (106), the lidar sensor having:
at least one transmitting unit (101) for emitting primary light (104) into the field of view (106);
at least one receiving unit (110) for receiving secondary light (109) that has been reflected by an object (107) within the field of view (106);
wherein the receiving unit (110) has a detector unit (113) with at least one detector element (114) and detector optics (112) with a non-linear optical element (201);
it is characterized in that the preparation method is characterized in that,
the nonlinear optical element (201) is designed to: doubling the frequency of the received secondary light (109) and directing the frequency-doubled secondary light (111) to the detector unit (113).
2. Lidar sensor (100) according to claim 1, wherein the non-linear optical element (201) is arranged in direct contact with the detector unit (113).
3. The lidar sensor (100) according to claim 1 or 2, wherein the detector optical element (112) further has at least one optical lens (202) configured for focusing the received secondary light (109) into the non-linear optical element (201).
4. Lidar sensor (100) according to any of the preceding claims, wherein a resonator (301) is arranged around the non-linear optical element (201).
5. The lidar sensor (100) according to any of the preceding claims, wherein the detector unit (113) is configured as a semiconductor detector unit.
6. A method (400) for optically detecting a field of view by means of a lidar sensor, the method having the steps of:
emitting (402) primary light into the field of view by means of a transmitting unit;
receiving (403), by means of a receiving unit, secondary light (109) that has been reflected by an object within the field of view;
wherein the receiving unit has a detector unit with at least one detector element and detector optics with a non-linear optical element;
characterized in that the method also has further steps:
doubling (404) the frequency of the received secondary light;
the doubled secondary light is directed (405) to the detector unit by means of a non-linear optical element.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018220227.3A DE102018220227A1 (en) | 2018-11-26 | 2018-11-26 | LIDAR sensor and method for optically detecting a field of view |
| DE102018220227.3 | 2018-11-26 | ||
| PCT/EP2019/080969 WO2020108978A1 (en) | 2018-11-26 | 2019-11-12 | Lidar sensor and method for optically capturing a field of view |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113348377A true CN113348377A (en) | 2021-09-03 |
| CN113348377B CN113348377B (en) | 2024-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201980090334.3A Active CN113348377B (en) | 2018-11-26 | 2019-11-12 | Lidar sensor and method for optically detecting a field of view |
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| Country | Link |
|---|---|
| CN (1) | CN113348377B (en) |
| DE (1) | DE102018220227A1 (en) |
| WO (1) | WO2020108978A1 (en) |
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| US5400130A (en) * | 1992-05-26 | 1995-03-21 | Nikon Corporation | Light wave distance measuring apparatus |
| US20070159683A1 (en) * | 2004-03-12 | 2007-07-12 | Bertrand Baillon | Frequency shifter in an optical path containing a pulsed laser source |
| US20170146335A1 (en) * | 2014-06-24 | 2017-05-25 | The Secretary Of State For Business, Innovation & Skills | Dual Laser Frequency Sweep Interferometry System and Method |
| DE102016004334A1 (en) * | 2016-04-13 | 2017-10-19 | Wabco Gmbh | Sensor device for detecting environmental information and method for operating the same |
| US20170307757A1 (en) * | 2016-04-22 | 2017-10-26 | Hexagon Technology Genter Gmbh | Dynamic expansion of a distance measuring device having a variable optical attenuation element in the transmitting channel |
| US20170307759A1 (en) * | 2016-04-26 | 2017-10-26 | Cepton Technologies, Inc. | Multi-Range Three-Dimensional Imaging Systems |
| CN108027425A (en) * | 2015-09-18 | 2018-05-11 | 罗伯特·博世有限公司 | Laser radar sensor |
| DE102017207493A1 (en) * | 2017-05-04 | 2018-11-08 | Robert Bosch Gmbh | Transmitter optics for a LiDAR system, LiDAR system and working device |
| DE102017207928A1 (en) * | 2017-05-10 | 2018-11-15 | Robert Bosch Gmbh | Operating method and control unit for a LiDAR system, LiDAR system for optically detecting a field of view and working apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018205381A1 (en) * | 2018-04-10 | 2019-10-10 | Ibeo Automotive Systems GmbH | LIDAR measuring system with wavelength conversion |
| US20210116543A1 (en) * | 2018-06-13 | 2021-04-22 | The Trustees Of The Stevens Institute Of Technology | Approaches, apparatuses and methods for lidar applications based on-mode-selective frequency conversion |
-
2018
- 2018-11-26 DE DE102018220227.3A patent/DE102018220227A1/en active Pending
-
2019
- 2019-11-12 WO PCT/EP2019/080969 patent/WO2020108978A1/en active Application Filing
- 2019-11-12 CN CN201980090334.3A patent/CN113348377B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5400130A (en) * | 1992-05-26 | 1995-03-21 | Nikon Corporation | Light wave distance measuring apparatus |
| US20070159683A1 (en) * | 2004-03-12 | 2007-07-12 | Bertrand Baillon | Frequency shifter in an optical path containing a pulsed laser source |
| US20170146335A1 (en) * | 2014-06-24 | 2017-05-25 | The Secretary Of State For Business, Innovation & Skills | Dual Laser Frequency Sweep Interferometry System and Method |
| CN108027425A (en) * | 2015-09-18 | 2018-05-11 | 罗伯特·博世有限公司 | Laser radar sensor |
| DE102016004334A1 (en) * | 2016-04-13 | 2017-10-19 | Wabco Gmbh | Sensor device for detecting environmental information and method for operating the same |
| US20170307757A1 (en) * | 2016-04-22 | 2017-10-26 | Hexagon Technology Genter Gmbh | Dynamic expansion of a distance measuring device having a variable optical attenuation element in the transmitting channel |
| US20170307759A1 (en) * | 2016-04-26 | 2017-10-26 | Cepton Technologies, Inc. | Multi-Range Three-Dimensional Imaging Systems |
| DE102017207493A1 (en) * | 2017-05-04 | 2018-11-08 | Robert Bosch Gmbh | Transmitter optics for a LiDAR system, LiDAR system and working device |
| WO2018202426A1 (en) * | 2017-05-04 | 2018-11-08 | Robert Bosch Gmbh | Transmission optical unit for a lidar system, lidar system, and working device |
| DE102017207928A1 (en) * | 2017-05-10 | 2018-11-15 | Robert Bosch Gmbh | Operating method and control unit for a LiDAR system, LiDAR system for optically detecting a field of view and working apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020108978A1 (en) | 2020-06-04 |
| CN113348377B (en) | 2024-07-09 |
| DE102018220227A1 (en) | 2020-05-28 |
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