EP3488258A1 - Agencement optique pour système lidar, système lidar et dispositif de travail - Google Patents

Agencement optique pour système lidar, système lidar et dispositif de travail

Info

Publication number
EP3488258A1
EP3488258A1 EP17740676.6A EP17740676A EP3488258A1 EP 3488258 A1 EP3488258 A1 EP 3488258A1 EP 17740676 A EP17740676 A EP 17740676A EP 3488258 A1 EP3488258 A1 EP 3488258A1
Authority
EP
European Patent Office
Prior art keywords
segments
optical
optics
view
field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP17740676.6A
Other languages
German (de)
English (en)
Inventor
Klaus Stoppel
Frank Kaestner
Annette Frederiksen
Joern Ostrinsky
Reiner Schnitzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3488258A1 publication Critical patent/EP3488258A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01S17/003—Bistatic lidar systems; Multistatic lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S17/46—Indirect determination of position data

Definitions

  • the present invention relates to an optical arrangement for a LiDAR system, a LiDAR system and a working device.
  • the present invention relates in particular to an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a
  • the present invention relates to a LiDAR system for optically detecting a field of view as such and in particular for a working device, a vehicle or the like. Furthermore, a vehicle is provided by the present invention.
  • Sensor arrays used to detect the operating environment.
  • LiDAR system English: LiDAR: light detection and ranging.
  • independent claim 1 has the advantage that, despite a large receiver-side aperture flexible arrangement of the optical arrangement results in reduced height or width.
  • This is inventively achieved with the features of independent claim 1, characterized in that an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a working device, a vehicle or the like, is provided with a segmented with a - especially odd - majority optically imaging segments
  • the segmented configuration of the receiver optics with a plurality of optically imaging segments and (ii) the applicability of the segments of the receiver optics side by side can depend on the structural conditions of the
  • Receiver optics are arranged distributed in a suitable manner, so that the space can also be divided accordingly.
  • the dependent claims show preferred developments of the invention.
  • the optically imaging segments of the receiver optics are or are arranged - in a direction perpendicular to a receiving direction of the receiver optics,
  • the measures according to the invention can also be used to reduce a lateral extent of the optical arrangement of the LiDAR system in order to obtain horizontally narrow and vertically more extensive structure.
  • a narrow or flat design for the optical arrangement can be achieved with one whose orientation in space is determined by the choice of segmentation and the arrangement next to one another.
  • vertical and horizontal refer to the geometry of a frame of reference of the particular application, and in particular to the orientation of a gravitational field, e.g. that of the earth.
  • optical arrangement in cooperation of the receiver optics with a detector array.
  • the receiver optics for optical imaging of the field of view is formed on a designated detector array.
  • Receiver optics for optical imaging of an associated segment of the field of view is formed on the detector array.
  • a particularly accurate detection of the field of view to be scanned is obtained if, according to another development of the optical arrangement of the invention, the totality of all - the optically imaging segments of the receiver optics associated - segments of the field of view cover the field of view as a whole.
  • Particularly favorable imaging ratios arise with regard to a good utilization of the available segments of the receiver optics if, according to another development of the optical arrangement according to the invention, the optically imaging segments of the receiver optics
  • associated segments of the field of view have no overlap or overlap of less than 10%, preferably less than 5%, more preferably less than 2% of each swept solid angle with each other.
  • a particularly compact optical arrangement can be achieved in that segments assigned to the optically imaging segments of the receiver optics are directly adjacent to one another or, in particular, in adjoining fashion.
  • optically imaging segments of the receiver optics associated segments of the field of view are arranged spatially spaced or spatially. In this way, a spatially distributed design can be achieved, which can be adapted to the respective applications.
  • a core aspect of the present invention is
  • Receiver optics The concept of segmentation can alternatively or additionally be transferred to the structure of the detector arrangement.
  • the detector arrangement is segmented with a
  • a plurality of detector segments is or is formed and that
  • Arrangement is formed with a segmented formed with a plurality of optical segments transmitter optics for illuminating the field of view with light, in particular with a split beam path, in which a 1 -to-1 - correspondence between the optical imaging segments of the
  • Receiver optics and the optical segments of the transmitter optics and / or the optical segments of the transmitter optics have a spatial arrangement of the optically imaging segments of the receiver optics corresponding spatial arrangement.
  • the transmission-side segmentation coincides with the reception-side segmentation. This may be so in certain embodiments, but is not mandatory.
  • the entire field of view could be illuminated with a beam deflected by a micromirror, and segmentation would be present only on the receiving side.
  • light should also be understood to mean IR radiation, for example-but not exclusively-in the region of 905 nm.
  • an optical segment of the transmitter optics and an optically imaging segment of the receiver optics are spatially spaced apart in a direction perpendicular to a transmission and / or reception direction of the transmitter optics or the receiver optics and / or in a direction perpendicular to a direction of a beam path of
  • the present invention further relates to a LiDAR system for optically detecting a field of view, in particular for a working device, a vehicle or the like.
  • the LiDAR system according to the invention is formed with an optical arrangement according to the present invention.
  • an operating device formed with a LiDAR system according to the present invention for optically detecting a field of view.
  • the working device according to the invention may in particular be a working machine, a vehicle, a robot or another general production or operating system.
  • FIG. 1 shows the manner of a schematic block diagram
  • FIG. 1 shows in side cross-sectional view of an embodiment of an optical arrangement according to the invention with focus on the receiver optics.
  • Figures 3 to 6 show in diagrammatic and perspective view other embodiments of the LiDAR system according to the invention using an embodiment of the optical arrangement according to the present invention.
  • Figures 7 and 8 show a schematic representation of a vertical or a horizontal division of a field of view into segments when using an embodiment of the optical arrangement according to the invention.
  • Figure 9 Describes schematically aspects of the distance determination by triangulation using the parallax effect.
  • Figure 1 shows in the form of a schematic block diagram a
  • the LiDAR system 1 has a transmitter optics 60 which is fed by a light source 65, for example in the form of a laser, and primary light 70 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for the investigation of an object 52 located there emits.
  • a light source 65 for example in the form of a laser
  • primary light 70 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for the investigation of an object 52 located there emits.
  • the LiDAR system 1 has a receiver optics 30 which receives secondary light 80 reflected by the object 52 in the field of view 50 via a lens 34 as a primary optic and, if appropriate, via a
  • Secondary optics 35 - transmits to a detector array 20.
  • control and evaluation unit 40th The control of the light source 65 and the detector assembly 20 via control lines 42 and 41 by means of a control and evaluation unit 40th
  • FIG. 1 schematically illustrates the concept of segmentation of the optical components of the LiDAR system 1 in three respects, but this is not mandatory.
  • the receiver optics 30 have a plurality of optically imaging segments 31 in the region of the objective 34, e.g. in the form of a plurality of correspondingly geometrically designed objective lenses.
  • Each optically imaging segment 31 is assigned a corresponding solid angle region in front of the objective 34, which forms a segment 51 of the field of view 50 of the LiDAR system 1.
  • the assignment is made by aligning the optically imaging segments 31 with respect to each other and with respect to the desired field of view field 50.
  • a respective optically imaging segment 31 of the receiver optics 30 forms a segment 51 of the field of view 50 by receiving the secondary light 80 onto the detector arrangement 50.
  • the field of view segments 51 entirely cover the field of view 50, i. the entire field of view 50 is detected in the form of the imaged field of view segments 51 by their entirety.
  • a further aspect of the segmentation can be found in the embodiment according to FIG. 1 in the case of the LiDAR system 1 according to the invention in the region of the deflection optics 62 of the transmitter optics 60, namely by the provision of a plurality of optical segments 61 independently controllable mirror elements acting on each other
  • System 1 according to FIG. 1 is realized in the region of the detector arrangement 20 by the provision of a plurality of detector segments 21.
  • Figure 2 shows a schematic and sectional side view of a
  • the overlapping of the individual field of view segments 51 is not absolutely necessary and is advantageously only minimal, so that no
  • Field of view segments 51 of the field of view 50 arise.
  • overlap may be helpful in some embodiments to compensate for adjustment tolerances.
  • Each field of view segment 51 is associated with an optically imaging segment 31 of the receiver optics 30, e.g. in the sense of a lens 34, assigned.
  • the assignment is such that, by imaging the optical imaging segment 31 of the receiver optics 30, exactly the associated field of view segment 51 is optically imaged on the detector arrangement 20. It is essential in the embodiment according to FIG. 2 that a 1-to-1 correspondence exists between a respective detector segment 21, an optically imaging segment 31 of the receiver optics 30 and the associated field of view segment 51. This 1-to-1 correspondence is true advantageous, but not necessary to force.
  • FIG. 3 shows, in a schematic and partially perspective view, another embodiment of the LiDAR system 1 according to the invention with two optically imaging segments 31 of the receiver optics 30 in the form of an objective 34, which respectively emit secondary light 80 from the field of view 50 onto a respective detector segment 21 of the detector arrangement 20 mapped with a plurality of six detector elements 22.
  • Figure 4 shows a schematic and perspective view of another
  • Embodiment of the LiDAR system 1 according to the invention in which the segmentation in the region of the receiver optics 30 with a plurality of optically imaging segments 31 in connection with the transmitter optics 60 can be used to a 90 distance 90 between an optical segment 61 of the transmitter assembly 60th , eg in the sense of a deflection optics or a deflection mirror 62, the parallax effect can be exploited in order to obtain further information about the geometry of the field of view 50 and in particular about a distance of an object 52 contained in the field of view 50.
  • the receiver optics 30 and the transmitter optics 60 are each formed with two segments 31 and 61, respectively.
  • FIG. 6 shows a schematic and sectional side view of another embodiment of the LiDAR system 1 according to the invention.
  • a segmentation of the transmitter optics 60 takes place via the provision of a pair of spatially separated deflecting mirrors 62 as segments 61 of the transmitter optics 60 for the emission of the primary light 70.
  • a segmentation of the receiver optics 30 for receiving and imaging the secondary light 80 is formed in the embodiment of the LiDAR system 1 according to FIG. 6 by the facet optics of the Fresnel lens 32 of the receiver optics 30.
  • the individual facets form the segments 31 of the
  • FIG. 6 shows a single Fresnel lens 32. This can be used, for example, to reduce the depth of a normal lens. However, it would also be conceivable here to provide a faceted appearance-possibly even without a Fresnel structure-since fresnel structures may have disadvantages, especially at certain observation angles.
  • the LiDAR system 1 has two detector segments 21 with a plurality of detector elements 22 in the detector arrangement 20.
  • FIGS. 7 and 8 show a vertical or a horizontal segmentation of a field of view 50 with individual field of view segments 51.
  • the spatial terms "horizontal”, “vertical” and the like refer to a conventional arrangement of a LiDAR system 1 in connection with an underlying device, preferably in the gravitational field of the earth.
  • an objective is often used as receiver optics 30 with a round aperture in the receive path.
  • detectors 22 of a detector arrangement 20 are located in the imaging area of this one objective 34.
  • the entire field of view (FOV) is imaged by this objective 34.
  • LiDAR sensors in a flat, elongated construction are desired so that these are e.g. between the ribs of a car radiator grill.
  • a flat design can improve the thermal performance of a LiDAR system to this effect.
  • a core idea of the present invention is the decomposition of functional elements of the receiver optics 30 - for example the objective lenses 34 - and possibly also the detector chips 21, laser source 65 and / or the transmission path 60 in at least two elements, which are arranged in particular spatially next to each other and / or one above the other so that a flat construction is created.
  • the previously uniform field of view 50 or field-of-view (FoV) can be divided horizontally or vertically, as shown in FIGS. 7 and 8, so that a flat construction of the system 1 results.
  • the lenses of a faceted optics can be broken down into individual elements to reduce the depth. Also tilted
  • Lens elements to convert one dimension of the FOV 50 into others are conceivable.
  • FIG. 3 shows a possibility, such as by dividing lenses in the objective 34 of the receiver optics 30 and detector surfaces or segments 21 of FIG
  • Detector assembly 20 ensures an overall constant receiving surface and at the same time a flat design can be generated.
  • the parallax effect can also be used to obtain further information for determining the distance.
  • a division of the transmission path with the transmitter arrangement 60 is conceivable and indicated in FIG.
  • the receiving optics 30 can be arranged centrally between the segments 61 of the transmitter arrangement 60 or the transmission path.
  • the division of the transmission path e.g. work with two lasers or with a laser that is split again before leaving the device.
  • FIG. 3 shows the division of lenses as optically imaging segments 31 of the receiver optics 30 and detector surfaces as detector segments 21
  • Detector assembly 20 to realize the same receiving surface and a flat design.
  • FIG. 4 shows a distributed construction in which segments 61 of transmitter optics 60 and segments 31 of receiver optics 30 are pulled apart horizontally. For near distances, the parallax effect can be used to more
  • FIG. 5 schematically shows the flexible arrangement of segments 61 of the transmitter optics and of segments 31 of the receiver optics 30.
  • FIG. 6 shows the division of a laser beam with two micromirrors 62 as segments 61 of the transmitter optics 60 and between them a receiver optics 30 in the manner of a facet optical system 32, which images the various field-of-view regions as segments 51 of the field of view 50.
  • FIGS. 7 and 8 show schematically a possible division of the
  • FIG. 9 shows schematically aspects of the distance determination by
  • the LiDAR system 1 shown schematically in FIG. 9 is provided with a
  • primary light 70 strikes an object 52, which the
  • the secondary light 80 is incident on the receiver optics 30 and directed therethrough to the detector assembly 20.
  • FIG. 9 shows schematically how, due to the base distance 94 between the receiver optics and the transmitter optics 60, which is also denoted by the symbol b, in connection with the parallax effect
  • Triangulation in addition to the transit time measurement in addition to the distance 91 of the object 52 can be closed by the receiver optics 30.
  • This distance is also denoted by z.
  • the following formula results in connection with the focal length 92, which is also denoted by the symbol f, and the distance 93, if this distance in the detector plane 23, which is identical to the focal plane of the receiver optics 30, is denoted by d: bz

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)
  • Photo Coupler, Interrupter, Optical-To-Optical Conversion Devices (AREA)

Abstract

L'invention concerne un agencement optique (10) destiné à un système lidar (1) servant à la détection optique d'un champ visuel (50), en particulier pour un dispositif de travail ou un véhicule, l'agencement comportant une optique de réception (30) segmentée (30) formée d'une pluralité, en particulier impaire, de segments de reproduction optique (31), les segments de reproduction optique (31) de l'optique de réception (30) étant agencés les uns à côté des autres.
EP17740676.6A 2016-07-21 2017-07-06 Agencement optique pour système lidar, système lidar et dispositif de travail Ceased EP3488258A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016213348.9A DE102016213348A1 (de) 2016-07-21 2016-07-21 Optische Anordnung für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung
PCT/EP2017/066953 WO2018015172A1 (fr) 2016-07-21 2017-07-06 Agencement optique pour système lidar, système lidar et dispositif de travail

Publications (1)

Publication Number Publication Date
EP3488258A1 true EP3488258A1 (fr) 2019-05-29

Family

ID=59366402

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17740676.6A Ceased EP3488258A1 (fr) 2016-07-21 2017-07-06 Agencement optique pour système lidar, système lidar et dispositif de travail

Country Status (6)

Country Link
US (1) US20190227148A1 (fr)
EP (1) EP3488258A1 (fr)
JP (2) JP2019521355A (fr)
CN (1) CN109791194A (fr)
DE (1) DE102016213348A1 (fr)
WO (1) WO2018015172A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019207470A1 (de) 2019-05-22 2020-11-26 Robert Bosch Gmbh LIDAR-Sensor zur optischen Erfassung eines Sichtfeldes und Verfahren zur optischen Erfassung eines Sichtfeldes
DE102019213830A1 (de) * 2019-09-11 2021-03-11 Robert Bosch Gmbh Sensoranordnung und LIDAR-System mit Sensoranordnung
DE102019125906A1 (de) * 2019-09-26 2021-04-01 Blickfeld GmbH Emitterarray für Lichtdetektion und -entfernungsmessung, LIDAR
JP7423485B2 (ja) 2020-09-18 2024-01-29 株式会社東芝 距離計測装置
WO2023153451A1 (fr) * 2022-02-09 2023-08-17 株式会社小糸製作所 Dispositif de mesure

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DE3244358C2 (de) * 1982-12-01 1984-10-04 Daimler-Benz Ag, 7000 Stuttgart Einrichtung zur Erfassung von Hindernissen als Rangierhilfe beim Einparken oder Wenden eines Kraftfahrzeuges
JPS62184381A (ja) * 1986-02-07 1987-08-12 Koito Mfg Co Ltd 自動車用レ−ダ装置
US5227784A (en) * 1990-12-10 1993-07-13 Mazda Motor Corporation System for detecting and determining range of target vehicle
JP2830577B2 (ja) * 1992-02-14 1998-12-02 三菱自動車工業株式会社 車間距離検知・警報装置
JPH05273351A (ja) * 1992-03-30 1993-10-22 Isuzu Motors Ltd 前車位置検知装置
JPH07270602A (ja) * 1994-03-31 1995-10-20 Omron Corp 受光用レンズ，受光装置，これらを用いた光電センサおよびレーザ・レーダ，ならびにレーザ・レーダを搭載した車両
DE10161233A1 (de) * 2001-12-13 2003-06-26 Conti Temic Microelectronic Sensoranordnung zur Abstands-oder Geschwindigkeitsmessung
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JP5267785B2 (ja) * 2008-09-01 2013-08-21 株式会社Ｉｈｉ レーザレーダ及びレーザレーダによる境界監視方法
DE102010054078A1 (de) * 2010-05-05 2011-11-10 Volkswagen Ag Lasersensor für Fahrerassistenzsysteme
US8738319B2 (en) * 2010-10-29 2014-05-27 Ford Global Technologies, Llc System and method for detecting a turning vehicle
JP5853838B2 (ja) * 2011-07-12 2016-02-09 株式会社デンソー 車載レーザレーダ装置
KR101551667B1 (ko) * 2013-11-27 2015-09-09 현대모비스(주) 라이다 센서 시스템
EP2910970B1 (fr) * 2014-02-25 2016-10-05 Sick Ag Lecteur laser

Also Published As

Publication number Publication date
JP2019521355A (ja) 2019-07-25
JP2021089288A (ja) 2021-06-10
DE102016213348A1 (de) 2018-01-25
WO2018015172A1 (fr) 2018-01-25
US20190227148A1 (en) 2019-07-25
CN109791194A (zh) 2019-05-21

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