DE102018202252A1 - LiDAR system, operating procedure for a LiDAR system and working device - Google Patents

Abstract

The present invention relates to a scanning or scanning type LiDAR system (1) for optically detecting a field of view (50) for a working device and / or a vehicle, in which a stator (100) surrounds a stator (100) Rotation axis (5) rotatable rotor (200), a transmitter optics (60), a receiver optics (30) and a communication unit (70) for contactless data transmission between the stator (100) and rotor (200) are formed, at least a part of the transmitter optics (60 ) and / or a part of the receiver optics (30) are accommodated in the rotor (200) and the communication unit (70) is or has an optical communication unit (80).

Description

State of the art

The present invention relates to a LiDAR system, in particular of the scanning or scanning type, an operating method for such a LiDAR system and a working device and in particular a vehicle.

With the use of working devices, of vehicles and other machines and installations, operating assistance systems or sensor arrangements for detecting the operating environment are increasingly being used. In addition to radar-based systems or systems based on ultrasound, light-based detection systems are also used, e.g. so-called LiDAR systems (English: LiDAR: light detection and ranging).

In scanning or scanning LiDAR systems, primary light is passed through a field of view to be detected after generation. In this case, so-called macroscanners are used, which have a rotor and a stator. The rotor accommodates at least part of the optics, the sensor system and / or the light sources and is controllably rotatable relative to the stator by means of a drive. All components of the rotor are preferably powered without contact or wireless - starting from the stator - with energy.

For example, an information exchange between rotor and stator is required for the control of the drive and the general operation and / or for the image reconstruction, wherein there are quite different requirements for the two directions.

The publication WO 2015/047872 A1 describes a rotatable LiDAR system in which an energy transfer from the stator to the rotor is magneto-inductive and an exchange of information between the rotor and the stator takes place electrically-capacitively via electrically conductive rings.

Disclosure of the invention

The LiDAR system according to the invention with the features of claim 1 has the advantage that with simple means a reliable and the respective requirements corresponding data exchange between the rotor and stator can be achieved. This is achieved according to the invention with the features of claim 1, characterized in that a scanning or scanning type for the optical detection of a field of view and in particular for a working device and / or a vehicle is provided, in which a stator, a rotatable relative to the stator about a rotation axis Rotor, a transmitter optics, a receiver optics and a communication unit for contactless or wireless data transmission between the stator and rotor are formed, at least a part of the transmitter optics and / or a part of the receiver optics are incorporated in the rotor and the communication unit is or has an optical communication unit. These measures ensure that, on the one hand, operating and control data for the operation of the LiDAR system and its components can be transmitted from the stator to the rotor, and, on the other hand, a retransmission of measured data recorded in the rotor with corresponding bandwidths is ensured.

Previously and subsequently, on the one hand, the terms "contactless" and "wireless" and, on the other hand, the terms "communication" and "data transmission" are used interchangeably.

The dependent claims show preferred developments of the invention.

According to a preferred embodiment of the LiDAR system according to the invention, the optical communication unit has at least one optical communication channel. The at least one optical communication channel is formed with an optical transmitter unit, which is representative of the communication or data transmission, for transmission of data representative of data to be transmitted and with an optical receiver unit for receiving optical signals with respect to the communication or data transmission.

Since an underlying LiDAR system in the form described above has two essential components, namely a stator and a rotor, it is of particular advantage if the optical communication unit has a first optical communication channel for data transmission from the stator to the rotor and, alternatively or additionally second optical communication channel for data transmission from the rotor to the stator.

Although, in principle, all spectral ranges are suitable for optical communication or data transmission, there are particular advantages with regard to the apparatus complexity if, according to another alternative or additional development of the present invention, the LiDAR system according to the invention is suitable for transmitting representative signals in the optical range visual area and / or in the infrared range.

In particular, it can be provided that a respective optical communication channel with respect to the communication or data transmission Transmitter one or more radiation emitter and receiver side has one or more radiation receiver.

In this case, it is particularly advantageous if a respective radiation emitter has one or more LEDs and / or lasers and / or a respective radiation receiver has one or more photodiodes, in particular avalanche photodiodes, and / or photoresistors.

Depending on the configuration of the LiDAR system, different geometrical arrangements may be used in the design of the optical communication channels.

Thus, it is possible that according to an embodiment of the present invention, a respective optical communication channel is aligned parallel or obliquely to the rotation axis. In this way, set up particularly simple geometric relationships.

It is conceivable that a respective optical communication channel is offset either radially to the axis of rotation, in order to avoid obstacles located in the region of the axis of rotation in an advantageous manner.

On the other hand, there is a particularly high degree of compactness of the overall configuration of the communication unit when a respective optical communication channel is aligned with the rotation axis of the underlying LiDAR system.

The LiDAR system of the invention may be adapted to transmit control data for controlling the rotation and / or general operation of the rotor of representative data from the stator to the rotor and / or transmitting to receiver data, and in particular for representative signal receiving data from the rotor to the stator.

According to an alternative or additional aspect of the present invention, there is also provided an operating method for a scanning or scanning type LiDAR system for optically detecting a field of view, and more particularly for a working device and / or a vehicle.

In this case, the LiDAR system is provided with a stator, a rotor rotatable relative to the stator about a rotation axis, a transmitter optics, a receiver optics and a communication unit for contactless or wireless data transmission between the stator and the rotor. Furthermore, it is assumed that at least part of the transmitter optics and / or a part of the receiver optics is or are received in the rotor.

A core aspect of the operating method according to the invention is that the contactless data transmission between the stator and the rotor takes place optically, in particular in the optical, ultraviolet and / or infrared range.

According to a further aspect of the present invention, a working device and, in particular, a vehicle are provided, which are designed with a LiDAR system designed according to the invention for the optical detection of a field of view.

list of figures

• 1 zeigt nach Art eines schematischen Blockdiagramms den Aufbau einer Ausführungsform des erfindungsgemäßen LiDAR-Systems.
• 2 und 3 zeigen schematisch Ausführungsformen des erfindungsgemäßen LiDAR-Systems mit einer zu einer Drehachse verschobenen bzw. mit einer Drehachse fluchtenden Anordnung eines einzelnen Kommunikationskanals.
• 4 bis 7 zeigen schematisch konkretere Ausführungsformen des erfindungsgemäßen LiDAR-Systems mit einem oder zwei zu einer Drehachse parallelen und radial verschobenen oder fluchtenden Kommunikationskanälen.

Embodiments of the invention will be described in detail with reference to the accompanying drawings.

• 1 shows in the manner of a schematic block diagram the structure of an embodiment of the LiDAR system according to the invention.
• 2 and 3 show schematically embodiments of the LiDAR system according to the invention with a displaced to an axis of rotation or aligned with a rotation axis arrangement of a single communication channel.
• 4 to 7 schematically show more concrete embodiments of the LiDAR system according to the invention with one or two parallel to an axis of rotation and radially displaced or aligned communication channels.

Preferred embodiments of the invention

The following are with reference to the 1 to 7 Embodiments of the invention and the technical background described in detail. Identical and equivalent as well as equivalent or equivalent elements and components are designated by the same reference numerals. Not in every case of their occurrence, the detailed description of the designated elements and components is reproduced.

The illustrated features and other properties can be isolated in any form from each other and combined with each other, without departing from the gist of the invention.

1 shows in the form of a schematic block diagram an embodiment of the LiDAR system 1 according to the invention with an optical arrangement 10 ,

The LiDAR system 1 according to 1 indicates in its optical arrangement 10 a transmitter optics 60 with optical path 61 on which of a light source unit 65 with light sources 65 - 1 , eg here in the form of lasers, and primary light 57 - If necessary after passing through a beam shaping optics 66 and a deflection optics 62 - in a field of view 50 for detecting an object located there 52 a scene 53 sending out.

Furthermore, the LiDAR system 1 detects 1 a receiver optics 30 with optical path 31 on which of the object 52 in the field of vision 50 reflected secondary light 58 via a lens 34 receives as primary optics and via secondary optics 35 to a detector arrangement 20 for detection with sensor or detector elements 22 transfers. The secondary optics 35 may have a bandpass filter to reduce the influence of stray light.

The control of in 2 and the other figures shown rotation 6 of the rotor 200 by means of the shaft shown there 7 around the axis of rotation 5 and opposite the stator 100 , the light source unit 65 with the light sources 65 - 1 as well as the detector arrangement 20 takes place via first and second communication channels 71 and 72 acting as first and second optical communication channels 81 . 82 and as part of a communication interface 75 are formed, and by means of a control and evaluation 40 ,

The control and evaluation unit 40 can also be the energy and / or data transmission between rotor 200 and stator 100 and in particular take over the control of a rotary drive. But it is especially about the tax system 45 with connection via a bus 46 with a transmitting unit 47 , a receiving unit 49 and a correlation unit 48 set up a rating out of the field of view 50 perform radiation.

From the 1 also shows that the control and evaluation unit 40 in connection with the stator 100 is formed, whereas the optical arrangement 10 of the LiDAR system 1 essentially in the rotor 200 is included. However, such a configuration is not mandatory; For example, the generation of radiation and / or the detection from the secondary radiation may well be in the stator 100 be performed when appropriate light guide from the rotor 200 in the stator 100 be used.

The control of the operation of the LiDAR system 1 according to the invention 1 and the execution of a corresponding operating method using the in 1 illustrated control system 45 in which via a bus 46 the transmitting unit 47 , the receiving unit 49 and the correlation unit 48 linked together and via the communication interface 75 and the communication channels 71 and 72 which the means of a communication unit 70 be realized with the optical arrangement 10 of the LiDAR system 1 in the rotor 100 and in particular with the light source unit 65 and the detector unit 20 the transmitter optics 60 or the receiver optics 30 are actively connected.

According to the invention, the communication unit 70 as an optical communication unit 80 educated.

The 2 and 3 schematically show embodiments of the invention LiDAR system 1 with a to an axis of rotation 5 shifted or with a rotation axis 5 aligned individual communication channel 71 the communication unit 70 in the form of an optical communication unit 80 , which accordingly as optical communication channel 81 from the stator 100 to the rotor 200 with communication direction 76 is trained. The communication channel 71 points as optical communication channel 81 transmitter side on the stator 100 a plurality of radiation emitters 83 - 1 as optical transmission units 83 and receiver side on the rotor 200 a single radiation receiver 84 - 1 as an optical receiver unit 84 to receive the from the radiation emitters 83 - 1 emitted radiation 85 on.

The communication channel 71 is as optical communication channel 81 in the embodiment according to 1 in relation to the axis of rotation 5 between stator 100 and rotor 200 radially offset, but arranged parallel to this. A non-parallel arrangement and alignment of the communication channel 71 to the axis of rotation 5 is conceivable.

In contrast, in the embodiment of the inventive LiDAR system 1 according to 3 as the optical communication channel 82 trained communication channel 72 from the rotor 200 to the stator 100 with communication direction 77 with the rotation axis 5 for the rotation 6 between stator 100 and rotor 200 aligned. Such an arrangement with the axis of rotation 5 aligned communication channel 71 is possible because with the rotation 6 related wave 7 on the from the stator 100 opposite side on the rotor 200 is attached and not as an obstacle the optical path between radiation emitter 83 - 1 and radiation receiver 84 - 1 blocked.

The 4 to 7 schematically show more concrete embodiments of the invention LiDAR system 1 with one or two to a rotation axis 5 parallel and radially shifted or aligned communication channels 71 and 72 the communication unit 70 as first and second optical communication channels 81 . 82 the optical communication unit 80 ,

For the LiDAR system 1 according to 4 is a single communication channel 72 as optical communication channel 82 from the rotor 200 to the stator 100 with communication direction 77 educated. In this optical communication channel 82 is transmitter side on the rotor 200 a plurality of radiation emitters 83 - 1 as a plurality of optical transmission units 83 and on the receiver side on the stator 101 individual radiation receiver 84 - 1 as an optical receiver unit 84 educated. The communication channel 72 is here parallel to the axis of rotation 5 between stator 100 and rotor 200 and arranged offset radially and parallel thereto.

A similar arrangement is in 5 shown. The local embodiment of the LiDAR system 1 according to the invention, however, has a first communication channel 71 as the first optical communication channel 81 the direction of communication 76 from the stator 100 to the rotor 200 and one with an opposite direction of communication 77 trained second communication channel 72 in the form of a second optical communication channel 82 from the rotor 200 to the stator 100 on. For the two communication channels 71 and 72 are each 2 transmitter-side radiation emitter 83 - 1 as optical transmitter units 83 trained, whereas at the receiver side each only a single radiation receiver 84 - 1 as an optical receiver unit 84 is trained. Both communication channels 71 and 72 are parallel to the underlying axis of rotation 5 and arranged radially and parallel to this displaced.

In the embodiments of the LiDAR system according to the invention according to the 4 and 5 the underlying wave acts 7 for the rotation 6 around the axis of rotation 5 as an obstacle, so that the respective communication channels 71 and 72 although parallel to the axis of rotation 5 may be formed, but just to this must also be formed radially and parallel shifted.

In contrast, the embodiments of the inventive LiDAR system 1 according to the 6 and 7 one or two communication channels 71 and 72 as optical communication channels 81 or. 82 , which are both parallel to the underlying axis of rotation 5 as well as are aligned with this.

These and other features and characteristics of the present invention will be further elucidated with reference to the following statements:

LiDAR systems should be integrated into vehicles as invisibly as possible in the future. To make this possible, a LiDAR system must be made as compact as possible.

At the same time, the requirements for resolution and refresh rate are increasing.

On the one hand, this results in increased energy consumption of the components on the rotor 200 On the other hand, the amount of 3D data coming from the rotor increases 200 on the stator 100 must be transported in the manner of an uplink. The data rate can reach up to 800 Mbps. To control the components on the rotor 200 a further data link like a downlink is needed. However, this can be operated at a much lower data rate, for example, far below 100 Mbit / s compared to the uplink from the rotor 200 to the stator 100 ,

Energy and data transmission can be realized via a LiDAR-side coupler and a vehicle-side coupler. In addition to a coil for power transmission, both couplers require a pair of waveguides for differential transmission of data and a waveguide pair for differential reception of data. To enable data transfer at any angle of rotation between the rotor and stator, the waveguides are designed as rings or ring segments.

The diameter of the coil pair for energy transfer increases with increasing energy consumption. The waveguides for capacitive data transmission are usually located radially outside the coil. This also increases their diameter.

• - Es liegen eine vergleichsweise hohe elektromagnetische Abstrahlung des zu Grunde liegenden Senderings und eine vergleichsweise hohe Empfindlichkeit des zu Grunde liegenden Empfangsrings gegenüber elektromagnetischen Immissionen vor.
• - Mit größerem Durchmesser der Wellenleiter steigen die mechanischen Toleranzen, was die Herstellung des Moduls zur Datenübertragung erschwert.
• - Die Luftzirkulation zwischen Rotor 200 und Stator 100 wird unterbrochen, deshalb verringert sich die Wärmeabfuhr der im Rotor entstehenden Verlustleistung.

An arrangement with such a diameter has, inter alia, the following disadvantages:

• - There is a comparatively high electromagnetic radiation of the underlying transmitter ring and a comparatively high sensitivity of the underlying receiving ring against electromagnetic immissions before.
• - With larger diameter of the waveguide increase the mechanical tolerances, which complicates the production of the module for data transmission.
• - The air circulation between rotor 200 and stator 100 is interrupted, therefore reduces the heat dissipation of the power loss generated in the rotor.

An optical data transmission has none of the above-mentioned disadvantages.

The 2 and 3 show two implementation possibilities of the inventive LiDAR system. 1

The realization option according to 1 uses multiple light sources or radiation emitters 83-1 as optical transmitter units 83 and / or a plurality of optical detectors in the form of radiation receivers 84-1 as a radiation receiver 84 , so that despite axial optical obstacle through the shaft 7 always a line of sight between at least one light source 83-1 and at least one optical detector 84-1 consists.

In the embodiment according to 3 shows an optical data connection in the manner of an optical communication channel 82 on the axis 5 in which there is always a line of sight between a light source 83-1 and the optical detector 84-1 consists.

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

• WO 2015/047872 A1 [0005]

Claims (10)

A scanning type LiDAR system (1) for optically detecting a field of view (50) for a working device and / or a vehicle, in which a stator (100), a rotor (200) rotatable relative to the stator (100) about a rotation axis (5), a transmitter optics (60), a receiver optics (30) and a communication unit (70) for contactless data transmission between the stator (100 ) and rotor (200) are formed, - At least a part of the transmitter optics (60) and / or a part of the receiver optics (30) are received in the rotor (200) and - The communication unit (70) is or has an optical communication unit (80). LiDAR system (1) after Claim 1 in which the optical communication unit (80) has at least one optical communication channel (81, 82) having an optical transmitter unit (83) transmitting with respect to the data transmission for transmission of optical signals representative of data to be transmitted, and with a reference to FIG is formed on the data transmission receiver-side optical receiver unit (84) for receiving optical signals. LiDAR system (1) according to one of the preceding claims, wherein the optical communication unit (80) has a - First optical communication channel (81) for data transmission from the stator (100) to the rotor (200) and / or - Having a second optical communication channel (82) for data transmission from the rotor (200) to the stator (100). LiDAR system (1) according to one of the preceding claims, which is set up for transmitting data to be transmitted representative signals in the optical visual range, in the ultraviolet and / or in the infrared range. A LiDAR system (1) according to any one of the preceding claims, wherein a respective optical communication channel (81, 82) is related to the data transmission - Sender side one or more radiation emitter (83-1) and - Receiving side one or more radiation receiver (83-2) has. LiDAR system (1) after Claim 5 in which - a respective radiation emitter (83-1) has one or more LEDs and / or lasers and / or - a respective radiation receiver (83-2) has one or more photodiodes, in particular avalanche photodiodes, and / or photoresistors. LiDAR system (1) according to one of the preceding claims, provided that Claim 2 at the back, in which a respective optical communication channel (81, 82) - to the rotation axis (5) parallel or inclined and / or - either to the rotation axis (5) radially offset or arranged in alignment with the axis of rotation (5). LiDAR system (1) according to one of the preceding claims, which is for transmitting for control data for controlling the rotation and / or general operation of the rotor (200) of representative data from the stator (100) to the rotor (200) and / or - Is set up for receiver data and in particular for received signals representative data from the rotor (200) to the stator (100). Operating method for a scanning type LiDAR system (1) for optically detecting a field of view (50) for a working device and / or a vehicle, - wherein the LiDAR system (1) with a stator (100), with respect to the stator (100) about a rotation axis (5) rotatable rotor (200), a transmitter optics (60), a receiver optics (30) and a communication unit ( 70) for contactless data transmission between the stator (100) and the rotor (200) is formed and at least a part of the transmitter optics (60) and / or a part of the receiver optics (30) is received in the rotor (200) and - In the method, the contactless data transmission between the stator (100) and the rotor (200) takes place optically, in particular in the optical visual, ultraviolet and / or infrared. Working device and in particular vehicle, with a LiDAR system (1) according to one of Claims 1 to 8th for the optical detection of a field of view (50).

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