EP3622316A1 - Système lidar et procédé permettant une détection simplifiée - Google Patents

Système lidar et procédé permettant une détection simplifiée

Info

Publication number
EP3622316A1
EP3622316A1 EP18718461.9A EP18718461A EP3622316A1 EP 3622316 A1 EP3622316 A1 EP 3622316A1 EP 18718461 A EP18718461 A EP 18718461A EP 3622316 A1 EP3622316 A1 EP 3622316A1
Authority
EP
European Patent Office
Prior art keywords
mirror
detector
lidar device
reflected
scanning
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
Application number
EP18718461.9A
Other languages
German (de)
English (en)
Inventor
Annemarie Holleczek
Matthias Baier
Remigius Has
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 EP3622316A1 publication Critical patent/EP3622316A1/fr
Pending 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
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
    • G02B26/0833—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/08—Mirrors
    • G02B5/10—Mirrors with curved faces

Definitions

  • the invention relates to a LIDAR device for scanning a
  • LIDAR light detection and ranging
  • a radiation source is often arranged stationary.
  • the generated beams are directed to a rotatable about a rotation axis deflection unit and deflected there controlled by a pivotable mirror in the direction of the scanning.
  • Beams reflected on objects can then be received by receiving optics and directed to detectors.
  • stationary detectors can be rotationally symmetrical.
  • the received beams are directed to different detector cells of the rotationally symmetrical shaped detector.
  • such detectors are in the form of concentric rings with a plurality of detector cells.
  • Detectors such as CMOS sensors are used, wherein an evaluation of the detected beams of such a sensor is expensive.
  • detectors of LIDAR devices are usually complex or shaped or must be evaluated by a complicated evaluation process. Disclosure of the invention
  • the object underlying the invention can be seen to propose a method and a LIDAR device for scanning a scanning area with a reduced rotating mass and with a reduced detector size.
  • a LIDAR device for scanning a scan area with at least one beam.
  • the LIDAR device has at least one radiation source for generating at least one beam and a mirror for deflecting the at least one generated beam in the direction of the scanning region.
  • the LIDAR device further comprises a detector mirror for deflecting at least one beam reflected from an object onto a region of a detector, wherein the mirror and the detector mirror are rotatable about a vertical axis of rotation via a rotor and wherein the detector mirror projects at least one reflected beam onto the detector Detector bundles.
  • backscattered or reflected to the LIDAR device beams can be directed from different directions of incidence by the detector mirror on the detector and bundled.
  • the scanning region can be scanned in pulses by generating at least one beam and then detecting a reflection of the generated beam.
  • each generated beam is used selectively or area by section of the
  • the at least one reflected beam is focused by the detector mirror onto the detector. This process then begins again, with the mirror directing the generated beam to another portion of the scan area.
  • the detector is designed to detect at least one reflected beam and its intensity.
  • a spatial resolution of the LIDAR device can be implemented by the radiation source in combination with an alignment of the mirror or the deflection unit and not by a detector.
  • a laser spot or a pulse-shaped beam can be directed onto a mirror, which can be, for example, an oscillating micromirror (MEMS).
  • MEMS oscillating micromirror
  • Oscillation frequency of the mirror can be made any vertical resolutions. All reflected rays are directed to the detector. Due to the bundling of the reflected beams onto the entire detector, it is not decisive where a reflected beam is detected on the detector.
  • the detector can thereby be designed to be technically simple and an evaluation of measurement signals of the detector can be simplified.
  • the measurement signal detected by the detector can be assigned to an exposed partial area of the scanning area, for example, depending on the orientation of the mirror and the emission direction of the at least one generated beam determined therefrom.
  • a scanning area may be exposed stepwise or continuously, for example meandering, in the form of an interlace method or the like.
  • detector mirrors and the mirror for deflecting the generated beams may be driven by the rotor or may be rotatable as parts of the rotor. Since only these two components are arranged on the rotor, the rotor has a low rotational mass. Furthermore, only a few electrical lines to and from the rotor (bilateral) are necessary. According to one embodiment of the LIDAR device focuses the
  • Detector mirror reflected rays of a rinsestrahl Kunststoffes on the detector can be directed from the return beam area to the detector.
  • the reverberation range corresponds to the scanning range of the LIDAR device.
  • the detector can be made smaller in this case, since reflected beams are no longer given their local assignment or resolution by the detector.
  • the LIDAR device According to one embodiment of the LIDAR device, the
  • Detector mirror on a focal length wherein the detector is disposed in a focal point of the detector mirror.
  • the detector mirror is in this case designed such that it reflects all the reflected rays at its focal point.
  • all the reflected beams can be imaged by the detector mirror in a single point or locally concentrated on a defined area of the detector.
  • the detector is designed as a point detector. Since the reflected rays are highly concentrated at the focus regardless of an angle of incidence of the reflected rays by the detector mirror, the detector can be used as a point detector such as an avalanche
  • the mirror is pivotable about a horizontal axis of rotation.
  • the mirror can deflect a generated beam along a vertical angle.
  • a vertical scanning angle can be exposed or scanned stepwise by at least one generated beam.
  • the mirror can oscillate at any frequency and deflect rays generated along the vertical scanning region in the direction of the scanning region. Since the mirror is arranged on the rotor, with the aid of a superimposed rotational movement about the vertical axis of rotation, the at least one beam can also be directed to any horizontal scanning angle.
  • the horizontal scanning angle and the vertical scanning angle span the scanning area.
  • a stationary mirror pivotable about a horizontal axis of rotation deflects at least one generated beam onto the mirror which is rotatable about the vertical axis of rotation.
  • the pivotable about a horizontal axis of rotation mirror is arranged statically or outside of the rotor and directs the at least one generated beam at different angles to a mirror which is arranged passively on the rotor and the rotor by a rotation or pivotal movement about the vertical axis of rotation can perform.
  • the passive mirror is positioned on the rotor next to the detector mirror.
  • only passive components that do not require energy or data transmission are arranged on the rotor.
  • the rotor is thus performed technically easier and has a low susceptibility to errors.
  • the stationary, in particular not rotatable about a vertical axis of rotation, mirror can by a pivoting movement about the horizontal axis of rotation of the at least one beam along a horizontal
  • At least one optical element guides the at least one deflected beam over the passive mirror rotatable about the vertical axis of rotation.
  • the generated beams which are deflectable by the stationary arranged and pivotable about a horizontal axis of rotation mirror, are optimally guided on the passive arranged on the rotor mirror.
  • the passive mirror can be optimally illuminated and possible losses, for example due to generated beams that miss the passive mirror, can be reduced.
  • the optical element may for example be a lens system, which may also be partially arranged on the rotor and partially static.
  • the detector mirror is a free-form mirror.
  • the detector mirror may be adapted to a geometry and a range of use of the LIDAR device.
  • the detector mirror may have an adapted curvature and shape, so that all the reflected beams are independent of the latter
  • Incident angle can always be focused on a point or at least on a limited area area.
  • the detector mirror may in this case preferably be arranged on the rotor and be designed, for example, as a parabolic mirror.
  • the detector can be placed stationary outside of the rotor and designed to be small or punctiform.
  • the detector and the detector mirror must be positioned so that they are arranged opposite one another on the vertical axis of rotation.
  • a method of operating a LIDAR device for scanning a scan angle with at least one beam In one step at least one beam is generated. Subsequently, the at least one generated beam is deflected along a horizontal scanning angle and a vertical scanning angle, wherein at least one reflected beam on an object is focused by a detector mirror onto a detector.
  • the at least one generated beam can hereby be continuously or stepwise deflected by a mirror arranged on a rotor along the horizontal scanning angle.
  • a detector mirror is also arranged on the rotor. The detector mirror has a curved or shaped
  • the detector mirror is preferably a free-form mirror such as a parabolic mirror.
  • the detector mirror can deflect reflected incoming beams and focus such that the reflected beams are always incident on a defined detector surface of the detector. This is preferably done independently of an angle of incidence of the reflected rays.
  • a respective beam is generated in a pulse shape and a vertical and horizontal deflection of a mirror in the
  • the detector only fulfills the task of registering or detecting reflected beams.
  • information relating to a location or an explicitly exposed partial area of the scanning area can be assigned to the reflected and detected beam.
  • the complexity of the detector and an evaluation of the detector can be reduced.
  • such a detector can be made smaller or more compact.
  • each reflected beam from a return beam region is focused precisely on the detector.
  • all reflected rays are focused in one point.
  • this point may be a focal point of the detector mirror.
  • the detector may be implemented as a point detector.
  • the detector may be an avalanche photodiode. The following are based on highly simplified schematic
  • FIG. 1 is a schematic representation of a LIDAR device according to a first embodiment
  • FIG. 2 is a schematic representation of a LIDAR device according to a second embodiment
  • Fig. 3 is a schematic representation of a LIDAR device according to a third embodiment.
  • the LIDAR device 1 shows a schematic representation of a LIDAR device 1 according to a first embodiment.
  • the LIDAR device 1 has a radiation source 2 for generating pulsed rays 3.
  • the radiation source 2 for generating pulsed rays 3.
  • the laser beams 3 generated with a defined pulse duration and at certain time intervals.
  • the generated beams 3 are congruent with a horizontal
  • Rotation axis V generated and emitted to a pivotable about a horizontal axis of rotation H mirror 4.
  • the mirror 4 is positioned on a rotatable about the vertical axis of rotation V rotor 6 and directs the generated rays
  • the rotor 6 is rotated continuously or stepwise via a drive mechanism, not shown.
  • data lines 8 are provided in addition to electrical lines.
  • the data lines 8 are connected to the mirror 4, the rotor 6, a detector 10 and an evaluation unit 12. Furthermore, a detector mirror 14 is disposed on the rotor 6.
  • Detector mirror 14 is according to the embodiment, a parabolic mirror 14.
  • the detector mirror 14 can reflected at an object 16 rays 13 from reflect different directions of incidence such that the reflected beams 13 are focused in one focal point.
  • the focal point has a distance from the detector mirror 14, which is a focal length of the
  • Detector mirror 14 corresponds.
  • the detector 10 also has a distance corresponding to the focal length of the detector mirror 14.
  • a detector surface of the detector 10 is located at a focal point of the detector mirror 14.
  • the detector 10 is according to the embodiment, a point detector in the form of an avalanche photodiode. In order for the focal point of the detector mirror 14 to be independent of an orientation of the rotor 6, the focal point of the detector mirror 14 and a detector surface of the detector 10 must be on the vertical
  • Rotation axis V lie.
  • the vertical axis of rotation V and the horizontal axis of rotation H are for convenience referred to an orientation and positioning of the LIDAR device 1 in the figures and need not necessarily be vertical or horizontal. Rather, the axes of rotation can be reversed according to a positioning of the LIDAR device 1 or arranged diagonally. However, the vertical rotation axis V and the horizontal rotation axis H are always orthogonal to each other.
  • the pulsed beams 3 are emitted by the mirror 4 in accordance with its deflection and the position of the rotor 6 in different portions of the scanning range. Subsequently, reflected beams 13 of the generated beams 3 can be registered by the detector 10. In this case, the detector 10 can determine only one intensity of the reflected beam and forward it to the evaluation unit 12 as an electrical measurement signal.
  • Evaluation unit 12 determines the position of the mirror 4 and the rotor 6 of the generated to a detected reflex 13 generated beam 3. Based on this information, the detected beam, a location dependence can be assigned and the subregion of the scanning are identified.
  • FIG. 2 shows a schematic representation of a LIDAR device 1 according to a second exemplary embodiment.
  • the LIDAR device 1 has a pivotable mirror 18, which is arranged stationarily outside the rotor 6.
  • the pivotable mirror 4a is passive according to the embodiment executed and is positioned in a defined position on the rotor 6.
  • the stationary arranged mirror 18 directs the beam 3 generated by the radiation source 2 on the passive mirror 4 a, which is positioned on the rotor 6. By pivoting the mirror 18, the generated beam 3 is directed to different areas of the passive mirror 4a.
  • an angle of incidence of the generated beam 3 on the passive mirror 4 a is varied by the mirror 18.
  • a vertical scanning angle is clamped or the scanning region is exposed in its vertical extent as a function of the pivoting of the mirror 18.
  • the pivotable mirror 18 instead of the radiation source 2 on the horizontal axis of rotation V
  • FIG. 3 shows a schematic representation of a LIDAR device 1 according to a third exemplary embodiment. Unlike the second
  • the LIDAR device 1 here an additional optical element 20.
  • the optical element 20 is arranged on the rotor 6 between the passive mirror 4 a and the pivotable mirror 18.
  • the optical element 20 serves as a beam guide and directs the generated beams 3, which are directed by the pivotable mirror 18 onto the passive mirror 4a.
  • the optical element 20 serves to correct the generated beams 3 and to optimize a beam path of the generated beams 3 onto the passive mirror 4a.
  • FIG. 4 illustrates a method 22 for operating a LIDAR device 1 according to the first exemplary embodiment. At least one beam 3 is generated 24 and a pivotable mirror 4 of the
  • the generated beam 3 is deflected by the pivotable mirror 4 along the vertical scanning angle 26. Since the mirror 4 is arranged on a rotor 6, the generated beam 3 is also along the When a beam 3 emitted into the scanning region strikes an object 16 or obstruction, at least a portion of the generated beam 3 is reflected back as a reflected beam 13 to the LIDAR device 28. The reflected beam 13 is reflected by received the detector mirror 14 and focused on the detector 10 deflected 30. Based on the
  • the localized resolution or a defined range of the scanning range can be assigned by the evaluation unit 12 to the detected 30 beam 32.

Abstract

L'invention concerne un système LIDAR permettant de balayer une zone de balayage avec au moins un faisceau, comportant au moins une source de rayonnement servant à produire le ou les faisceaux, comprenant un miroir servant à dévier le ou les faisceaux produits en direction de la zone de balayage, et un miroir de détecteur servant à dévier au moins un faisceau réfléchi au niveau d'un objet sur une zone définie d'un détecteur. Le miroir et le miroir de détecteur sont agencés sur un rotor de manière à pouvoir tourner autour d'un axe de rotation vertical, et le miroir de détecteur concentre le ou les faisceaux réfléchis sur le détecteur. L'invention concerne par ailleurs un procédé permettant de faire fonctionner un système LIDAR.
EP18718461.9A 2017-05-12 2018-04-18 Système lidar et procédé permettant une détection simplifiée Pending EP3622316A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017208047.7A DE102017208047A1 (de) 2017-05-12 2017-05-12 LIDAR-Vorrichtung und Verfahren mit vereinfachter Detektion
PCT/EP2018/059942 WO2018206251A1 (fr) 2017-05-12 2018-04-18 Système lidar et procédé permettant une détection simplifiée

Publications (1)

Publication Number Publication Date
EP3622316A1 true EP3622316A1 (fr) 2020-03-18

Family

ID=62002674

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18718461.9A Pending EP3622316A1 (fr) 2017-05-12 2018-04-18 Système lidar et procédé permettant une détection simplifiée

Country Status (7)

Country Link
US (1) US11486974B2 (fr)
EP (1) EP3622316A1 (fr)
JP (1) JP7035085B2 (fr)
KR (1) KR20200006999A (fr)
CN (1) CN110622031A (fr)
DE (1) DE102017208047A1 (fr)
WO (1) WO2018206251A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111596279A (zh) * 2020-05-08 2020-08-28 山东大学 一种激光指向稳定控制方法
WO2022185367A1 (fr) * 2021-03-01 2022-09-09 パイオニア株式会社 Dispositif de source de lumière et dispositif de capteur

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Also Published As

Publication number Publication date
JP2020519894A (ja) 2020-07-02
KR20200006999A (ko) 2020-01-21
US11486974B2 (en) 2022-11-01
DE102017208047A1 (de) 2018-11-15
JP7035085B2 (ja) 2022-03-14
CN110622031A (zh) 2019-12-27
US20200132816A1 (en) 2020-04-30
WO2018206251A1 (fr) 2018-11-15

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