EP3583445A1 - Lidar-sensor zur erfassung eines objektes - Google Patents
Lidar-sensor zur erfassung eines objektesInfo
- Publication number
- EP3583445A1 EP3583445A1 EP18703985.4A EP18703985A EP3583445A1 EP 3583445 A1 EP3583445 A1 EP 3583445A1 EP 18703985 A EP18703985 A EP 18703985A EP 3583445 A1 EP3583445 A1 EP 3583445A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- electromagnetic radiation
- lidar sensor
- optical receiver
- sensor according
- optical
- 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.)
- Pending
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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- 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
-
- 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
Definitions
- Lidar sensor for detecting an object
- the present invention relates to a lidar sensor and a method for driving a lidar sensor according to the preamble of independently formulated claims.
- lidar sensors LIDAR, Light Detection and Ranging
- the electromagnetic radiation emitted by a lidar sensor is reflected or scattered by objects in the environment and received by an optical receiver of the lidar sensor. Based on this received radiation, the position and distance of objects in the environment can be determined.
- lidar sensors In order to install lidar sensors to save space in or on certain areas of a vehicle, lidar sensors would be advantageous, the lower construction volume or a lower height than previously known solutions exhibit. Furthermore, there is a need for mechanically robust lidar sensors, especially for use in vehicles.
- the present invention is based on a lidar sensor for detecting an object in the environment with at least one light source for emitting electromagnetic radiation, at least one deflection mirror for deflecting the emitted electromagnetic radiation as deflected emitted electromagnetic radiation by at least one angle in the environment, and at least an optical receiver for receiving
- the optical receiver has a cutout region, wherein the cutout region is arranged on a main beam axis of the light source.
- the deflection mirror can be moved in an oscillating manner along an axis. It is in this case a one-dimensional deflection mirror.
- the deflection mirror can alternatively be moved in an oscillating manner along two axes. It is in this case a two-dimensional deflection mirror.
- a plausibility check of a measured distance of an object detected in the environment can be carried out. This possibility results from the fact that the deflection mirror causes a shift of the received electromagnetic radiation according to the duration of the electromagnetic radiation.
- the advantage of the invention is that a lidar sensor with a low construction volume, in particular a low overall height can be realized. Characterized in that the recess area on a main axis of the
- Light source is arranged, the beam path of the emitted
- Electromagnetic radiation and the beam path of the received electromagnetic radiation coaxial with each other. Optical losses In the beam path of the emitted and the received electromagnetic radiation can be largely avoided. Above all, the received electromagnetic radiation can be received as far as possible lossless from the optical receiver.
- the optical receiver can be sufficiently large and sufficiently sensitive.
- the optical receiver has at least one detector element which at least partially surrounds the recess area.
- the optical receiver may for example be formed as a single, annular detector element.
- the optical receiver may for example be formed as a single, semi-annular detector element.
- the optical receiver can furthermore be designed as a single, polygonal detector element.
- Detector elements are easy to implement in their manufacture.
- the optical receiver has at least two detector elements, which are arranged on at least part of the circumference of the optical receiver.
- the recess area is formed as a passage.
- the passage can be a hole.
- the passage may be a material which is largely permeable to the emitted electromagnetic radiation.
- the light source is arranged on the side facing away from the environment of the optical receiver.
- the recess area is designed as a mirror.
- Receiver is arranged.
- the advantage of this embodiment is that a very compact coaxial lidar sensor can be realized.
- Deflecting mirror is designed as a micromechanical deflection mirror. Both the emitted electromagnetic radiation, which strikes the deflection mirror, and the received electromagnetic radiation, which on the
- Ablenktik meets may have a small beam diameter.
- a small-sized deflection mirror with a correspondingly high sampling frequency can be used. It can be realized a lidar sensor, which is sufficiently mechanically robust.
- the lidar sensor further comprises a field of micro-optical elements.
- the deflection mirror and the field are arranged such that each of the at least one angles is associated with exactly one micro-optical element.
- Each element may be associated with multiple angles of different amounts.
- the lidar sensor further comprises a light-bundling element, which at a distance to the
- micro-optical elements When struck by the deflected emitted electromagnetic radiation, expands this deflected emitted electromagnetic energy
- the light-bundling element transforms the divergent beam into a scanning beam.
- the advantage of this embodiment is that the eye safety can be ensured even with increased overall power of the emitted electromagnetic radiation.
- the beam diameter of the probe beam may be larger than the pupil diameter of the human eye.
- the sensitivity to scattering particles can be kept low.
- the emitted electromagnetic radiation deflected at the deflecting mirror does not directly scan the surroundings but rather the field of micro-optical elements.
- the direction in which the scanning beam is emitted depends on the position of the respective micro-optical element hit relative to the optical axis of the light-bundling element.
- the opening angle of the lidar sensor can therefore be significantly greater than the angle by which the electromagnetic radiation at the deflection mirror is deflected to the maximum. In this way, scanning with a wide opening angle is made possible.
- micro-optical elements are microlenses or reflective or light-diffractive elements.
- the focusing element may be an optical lens in the focal plane of the field of micro-optical elements.
- the divergent beam is transformed into a scanning beam in which the beams are nearly parallel.
- a concave mirror would be conceivable instead of a lens.
- the light-bundling element also forms an objective of the optical receiver. This allows the received electromagnetic radiation to be coaxial with the emitted electromagnetic radiation. As a result, in the evaluation of the received electromagnetic radiation no
- a mirror unit is arranged on the optical axis of the light-bundling element, which deflects the deflected emitted electromagnetic radiation to the field of micro-optical elements.
- the mirror unit also received electromagnetic radiation can be deflected to the deflection mirror.
- the advantage of this embodiment is that the beam path of the lidar sensor can be adjusted.
- the mirror unit is curved. The advantage of this embodiment is that aberrations can be compensated.
- the method comprises the following steps: activation of a light source for
- the optical receiver has a cutout region, wherein the cutout region is arranged on a main beam axis of the light source.
- FIG. 1 shows a sketch of a lidar sensor according to the invention
- FIG. 2 shows a sketch of a lidar sensor according to a second
- FIG. 3 shows a sketch of a lidar sensor according to a third
- FIG. 4 shows a sketch of a lidar sensor according to a fourth
- the lidar sensor shown in FIG. 1 has, as light source 101, a laser which emits electromagnetic radiation 105 in the visible region of the spectrum or optionally also in the infrared region.
- the lidar sensor also has the optical receiver 102.
- the optical receiver 102 is formed in the example as an annular detector element 107.
- the optical receiver 102 has the detector element 107, which comprises a recess region 103 at least partially. A sensitive area of the detector element may be present in whole or in part around the recess area 103.
- Detector element 107 has the recess area 103 in its center.
- the recess area 103 is formed as a passage.
- the light source 101 is arranged on the side of the optical receiver 102 facing away from the environment.
- the optical receiver 102 is arranged such that the passage 103 is arranged on the main beam axis 108 of the light source 101. The light emitted from the light source 101 along the main beam axis 108
- Electromagnetic radiation 105 is directed lossless through the passage 103 to the deflecting mirror 104.
- a free-beam optics is shown by way of example.
- the emitted electromagnetic radiation 105 can also be directed by means of an optical fiber through the passage 103 onto the deflection mirror 104.
- the deflection mirror 104 is a micromechanical deflection mirror. As indicated by the double arrow, the deflection mirror 104 is oscillated or statically moved along an axis. It is still possible that the
- Deflection mirror 104 about a second axis which is perpendicular to the first axis, oscillating or static moves.
- the deflecting mirror 104 deflects the emitted electromagnetic radiation 105 as deflected emitted
- electromagnetic radiation 105-1 into the environment.
- the control of the deflecting mirror 104 takes place in this case such that the emitted electromagnetic radiation 105 is deflected in a first orientation by at least one angle as deflected electromagnetic radiation 105-1 emitted into the environment. In FIG. 1, this one angle 109 is marked. In a second orientation of the deflection mirror, the emitted electromagnetic
- Radiation 105 are deflected at least one further, different from the first angle angle as deflected emitted electromagnetic radiation 105-1 in the environment.
- the deflected emitted electromagnetic radiation 105-1 impinges on an object in the environment, then the electromagnetic radiation is emitted by the Object reflected and / or scattered back.
- Backscattered electromagnetic radiation 106 is received by the lidar sensor.
- the electromagnetic radiation 106 is incident on the optical receiver 102 via the deflection mirror 104.
- FIG. 2 shows, as a modified exemplary embodiment, a lidar sensor which has the same fundamental structure as the lidar sensor in FIG. It differs in that the optical receiver 102 the
- Detector elements 107-1 to 107-4 which are arranged on at least part of the circumference of the optical receiver 102.
- Detector elements 107-1 to 107-4 are arranged around the recess area 103. It is also possible that the optical receiver 102 has, for example, only three of the detector elements. For example, it is possible for the optical receiver 102 to have only the detector elements 107-1 to 107-3. In this case would be at a part of the scope of the optical
- Receiver 102 no detector element arranged. It is also possible that the optical receiver 102 has only two detector elements or only one detector element. Around the recess area 103 may be present wholly or even proportionally sensitive surface of the detector elements.
- FIG. 3 shows, as a further exemplary embodiment, a lidar sensor which likewise has a light source 101, an optical receiver 102 and a deflection mirror 104.
- the features of these components correspond to the features of the same components of the embodiments already described.
- the optical receiver can in this case be designed as already shown for the examples of FIG. 1 and FIG.
- the optical receiver 102 is formed in the example as an annular detector element 107.
- the optical receiver 102 has the detector element 107, which comprises a recess region 301 at least partially.
- the detector element 107 has the recess area 301 in its center.
- the recess portion 301 is formed as a mirror.
- the light source 101 is disposed on the environment-facing side of the optical receiver 102.
- the optical receiver 102 is arranged such that the mirror 301 is arranged on the main beam axis 108 of the light source 101.
- the electromagnetic radiation 105 emitted by the light source 101 along the main beam axis 108 is deflected by the mirror 301 to the deflection mirror 104 largely without any loss.
- FIG. 3 shows, by way of example, a free-beam optics. Alternatively, the emitted electromagnetic
- Radiation 105 are also directed by means of an optical fiber on the mirror 301 and deflected to the deflecting mirror 104.
- FIG. 4 shows a lidar sensor according to a further embodiment, which likewise has a light source 101, an optical receiver 102 and a deflection mirror 104.
- the features of these components correspond to the features of the same components of those already described
- the optical receiver can in this case be designed as already shown for the examples of FIG. 1, FIG. 2 and FIG.
- the optical receiver 102 has the detector element 107.
- the detector element 107 has the recess area 301 in its center.
- the recess portion 301 is formed as a mirror.
- the optical receiver 102 further includes the optical filter 401
- the optical receiver 102 further comprises a free-form plastic optics 402. This serves to focus the received light onto the sensitive areas of the detector.
- the electromagnetic radiation 105 directed by the light source 101 along the main beam axis 108 onto the mirror 301 and deflected as far as possible without loss onto the deflection mirror 104 of the lidar sensor is generated by means of the light source 101
- Deflecting mirror 104 guided as deflected electromagnetic radiation emitted 105-1 on a field 404 micro-optical elements 408.
- micro-optical elements light-diffractive elements 408 are provided in this example. Optionally, however, could also be provided light-refractive or reflective elements.
- the at least one angle through which the emitted electromagnetic radiation 105 deflects deflected electromagnetic radiation 105-1 is precisely assigned to a micro-optical elements 408-1, 408-2.
- the drawn in Figure 4 angle 109 is associated with the micro-optical elements 408-1.
- Each element 408 may be associated with multiple angles of different amounts. For example, if the emitted electromagnetic radiation 105 is deflected by the deflecting mirror 104 by an angle the amount of which differs slightly from the amount of the angle 109, the deflected emitted electromagnetic radiation 105-1 also strikes the micro-optical element 408-1. If the difference between the magnitudes of the angle 109 and a further deflection angle exceeds a predetermined value, then the deflected emitted electromagnetic radiation 105-1 strikes, for example, the adjacent micro-optical element 408-2.
- the divergent beam 406 strikes a light-converging element in the form of a lens 405.
- the distance y between the field 404 and the lens 405 is approximately equal to the focal length of the lens 405.
- the lens 405 forms the divergent beam 406 into an approximately parallel scanning beam 407 around.
- the beam diameter of the scanning beam 407 is larger than the beam diameter of the beam of the emitted electromagnetic radiation 105
- Beam diameter of the probe beam 407 is larger than the beam diameter of the beam of the deflected emitted electromagnetic radiation 105-1.
- the emission direction of the probe beam 407 depends on the position of the micro-optic element 408, with respect to the optical axis of the light-focusing element 405, that is just emitted from the deflected one
- the deflection mirror 104 indirectly also causes a deflection of the scanning beam 407.
- the scanning beam 407 covers the surroundings of the lidar sensor.
- the angular range swept by the probe beam 407 is dependent on the focal length of the lens 405. It can be significantly more than twice the angular range in which the deflection mirror 104 is moved. Between the deflecting mirror 104 and the field 404 is another
- Mirror unit 403 provided.
- the mirror unit 403 is arranged at a distance x from the field 404.
- This further mirror unit 403 is designed to compensate for aberrations as a curved mirror.
- the mirror unit 403 deflects the electromagnetic radiation 105 deflected by the deflecting mirror 104 so that it falls onto the field 404 along the optical axis of the lens 405.
- electromagnetic radiation 106 can be deflected to the deflection mirror 104.
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)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017202635.9A DE102017202635A1 (de) | 2017-02-20 | 2017-02-20 | Lidar-Sensor zur Erfassung eines Objektes |
PCT/EP2018/053026 WO2018149708A1 (de) | 2017-02-20 | 2018-02-07 | Lidar-sensor zur erfassung eines objektes |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3583445A1 true EP3583445A1 (de) | 2019-12-25 |
Family
ID=61188810
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18703985.4A Pending EP3583445A1 (de) | 2017-02-20 | 2018-02-07 | Lidar-sensor zur erfassung eines objektes |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190353755A1 (de) |
EP (1) | EP3583445A1 (de) |
JP (1) | JP6903145B2 (de) |
CN (1) | CN110312947B (de) |
DE (1) | DE102017202635A1 (de) |
WO (1) | WO2018149708A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018217731A1 (de) * | 2018-10-17 | 2020-04-23 | Robert Bosch Gmbh | LiDAR-Vorrichtung |
DE102018218706A1 (de) * | 2018-10-31 | 2020-04-30 | Osram Gmbh | Abstandsmesseinheit |
DE102019124265B4 (de) * | 2019-09-10 | 2023-08-10 | Sick Ag | Optoelektronischer Sensor und Verfahren zum Erfassen von Objekten in einem Überwachungsbereich |
CN115840212A (zh) * | 2022-07-26 | 2023-03-24 | 深圳市速腾聚创科技有限公司 | 激光雷达及存储介质 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7705999B2 (en) * | 2006-03-07 | 2010-04-27 | Georgia Tech Research Corporation | Probe sensor with multi-dimensional optical grating |
DE102006027063A1 (de) * | 2006-06-10 | 2007-12-13 | Sick Ag | Scanner |
US8184276B2 (en) * | 2008-12-08 | 2012-05-22 | Carl Embry | Continuous index of refraction compensation method for measurements in a medium |
DE102008055159A1 (de) | 2008-12-29 | 2010-07-01 | Robert Bosch Gmbh | Adaptive Winkel- und Leistungsanpassung bei 3D-Mikrospiegel-Lidar |
LU91688B1 (en) * | 2010-05-17 | 2011-11-18 | Iee Sarl | Scanning 3D imager |
JP5857711B2 (ja) * | 2011-12-15 | 2016-02-10 | 株式会社リコー | 光学測定装置 |
WO2013177650A1 (en) | 2012-04-26 | 2013-12-05 | Neptec Design Group Ltd. | High speed 360 degree scanning lidar head |
US9823351B2 (en) * | 2012-12-18 | 2017-11-21 | Uber Technologies, Inc. | Multi-clad fiber based optical apparatus and methods for light detection and ranging sensors |
US9291495B2 (en) * | 2013-03-06 | 2016-03-22 | Apple Inc. | Proximity sensor with combined light sensor having an increased viewing angle |
DK2860553T3 (en) | 2013-10-10 | 2016-02-01 | Sick Ag | Optoelectronic sensor and method for detecting object information |
DE102014224416A1 (de) * | 2013-11-29 | 2015-06-03 | Conti Temic Microelectronic Gmbh | Anordnung für ein optisches Sensorsystem für ein Fahrzeug sowie Verfahren zur deren Herstellung |
US9841496B2 (en) * | 2014-11-21 | 2017-12-12 | Microsoft Technology Licensing, Llc | Multiple pattern illumination optics for time of flight system |
US20180073924A1 (en) * | 2015-03-19 | 2018-03-15 | Heptagon Micro Optics Pte. Ltd. | Optoelectronic module for spectral and proximity data acquisition |
US10088557B2 (en) * | 2015-03-20 | 2018-10-02 | MSOTEK Co., Ltd | LIDAR apparatus |
JP6891402B2 (ja) * | 2015-06-22 | 2021-06-18 | 株式会社リコー | 光偏向装置、画像形成装置、画像表示装置、物体装置、及び光偏向装置の調整方法 |
US20170357000A1 (en) * | 2016-06-09 | 2017-12-14 | Texas Instruments Incorporated | Processing techniques for lidar receiver using spatial light modulators |
CN106291510A (zh) * | 2016-10-28 | 2017-01-04 | 深圳市镭神智能系统有限公司 | 一种基于时间飞行法的激光雷达光学系统 |
-
2017
- 2017-02-20 DE DE102017202635.9A patent/DE102017202635A1/de active Pending
-
2018
- 2018-02-07 US US16/484,172 patent/US20190353755A1/en not_active Abandoned
- 2018-02-07 WO PCT/EP2018/053026 patent/WO2018149708A1/de active Application Filing
- 2018-02-07 CN CN201880012797.3A patent/CN110312947B/zh active Active
- 2018-02-07 JP JP2019544816A patent/JP6903145B2/ja active Active
- 2018-02-07 EP EP18703985.4A patent/EP3583445A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
US20190353755A1 (en) | 2019-11-21 |
DE102017202635A1 (de) | 2018-08-23 |
JP2020508448A (ja) | 2020-03-19 |
JP6903145B2 (ja) | 2021-07-14 |
CN110312947B (zh) | 2024-03-08 |
CN110312947A (zh) | 2019-10-08 |
WO2018149708A1 (de) | 2018-08-23 |
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