EP3631498A1 - Dispositif lidar pour balayer une zone de balayage à encombrement réduit au minimum - Google Patents

Dispositif lidar pour balayer une zone de balayage à encombrement réduit au minimum

Info

Publication number
EP3631498A1
EP3631498A1 EP18726456.9A EP18726456A EP3631498A1 EP 3631498 A1 EP3631498 A1 EP 3631498A1 EP 18726456 A EP18726456 A EP 18726456A EP 3631498 A1 EP3631498 A1 EP 3631498A1
Authority
EP
European Patent Office
Prior art keywords
optical waveguide
lidar device
scanning
optical element
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.)
Withdrawn
Application number
EP18726456.9A
Other languages
German (de)
English (en)
Inventor
Reinhold Fiess
Tobias Graf
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 EP3631498A1 publication Critical patent/EP3631498A1/fr
Withdrawn legal-status Critical Current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
    • G01S7/4814—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
    • G01S17/42—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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • LIDAR device for scanning a scanning area with minimal space requirement
  • the invention relates to a LIDAR device for scanning a
  • Radiation source for generating the at least one beam and for coupling the at least one beam in at least one optical waveguide, with a deflection device for deflecting the at least one beam in the
  • Scanning region comprising a receiving unit for receiving at least one beam reflected on an object and for deflecting the at least one reflected beam onto a detector.
  • LI DAR light detection and ranging
  • the transmitting device has a radiation source which generates beams continuously or pulsed.
  • the generated beams can then be emitted via deflection devices or via a deflectable radiation source defined in a scanning range.
  • deflection devices or via a deflectable radiation source defined in a scanning range.
  • the receiving device can detect the reflected electromagnetic radiation and assign a time of reception to the reflected beams. This can be done, for example, in the context of a time of flighf analysis for a
  • Determining a distance of the object to the LIDAR device can be used. Depending on a scope of application may be in addition to a
  • the object underlying the invention can be seen to provide a LIDAR device, which has a minimal space requirement.
  • a LIDAR device for scanning a scan area with at least one beam.
  • the LIDAR device has at least one radiation source for generating the at least one beam and for coupling the at least one beam into at least one optical waveguide.
  • a deflection device serves to deflect the at least one coupled-in beam into the scanning region.
  • the LIDAR device has receiving optics for receiving at least one beam reflected at an object and for deflecting the at least one reflected beam onto a detector.
  • the at least one radiation source can generate at least one electromagnetic beam continuously or in a defined pulse sequence.
  • the at least one radiation source is arranged here in such a way to the optical waveguide, that the generated rays wholly or partly in the
  • Fiber optic cables can be coupled. This means that at least a part of at least one generated beam passes through a core of the
  • the at least one beam coupled into the optical waveguide can then be deflected by the deflection device. This is done by a
  • a static mirror may be arranged instead of the Spatial Light Modulator. This can be advantageous, for example, in the case of flash LIDAR devices, since no movable mirrors are necessary.
  • the at least one beam coupled into the optical waveguide follows the course of the beam
  • the reflection sides represent boundary regions between the core of the optical waveguide and a material of the optical waveguide surrounding the core.
  • the reflection sides can also be boundary surfaces between two regions or materials with different refractive indices.
  • Optical waveguide provided with a holographic optical element.
  • the holographic optical element may be a volume hologram having an optical deflection function.
  • a coupled beam can strike the holographic optical element and from this at a larger angle to the holographic optical element opposite
  • the holographic optical element has a small angular selectivity due to its characteristics, so that an optical function of the holographic optical element is only within a small angular range
  • Angle range such as less than 1 °, may be given.
  • the generated beams are preferably laser beams which may be spectrally narrowband.
  • the holographic optical element can thus with regard to a required angular selectivity and the wavelengths used
  • Radiation source can be designed very precisely on the generated beams.
  • the holographic optical element can be unaffected by incoming rays
  • the at least one beam After redirecting an incoming beam through the holographic optical element to the spatial light modulator, the at least one beam is again directed by the spatial light modulator in the direction of the spatial light modulator holographic optical element reflected. Due to a resulting larger angle in the beam path, the at least one beam can transmit through the holographic optical element.
  • the transmission can be defined by the holographic optical element
  • Filter functions and / or optical beam shaping functions are assigned.
  • Spatial Light modulators When using Spatial Light modulators as reflectors usually has the incident beam at a relatively small angle to
  • Element is a particularly flat design for lighting optics of the LIDAR device possible. Furthermore, this leads to an avoidance of shadows and constructive conflicts from one
  • Receive beam path which has been reflected in the scanning of an object.
  • Spatial Light Modulator for example, ferroelectric liquid crystals on a silicon substrate or LCoS, micromirror arrays as an arrangement of Piston mirrors and the like can be used. This high switching speeds can be achieved.
  • the at least one beam coupled into the optical waveguide is guided out of the optical waveguide by the optical waveguide
  • the deflection device is so with the
  • Fiber optic connectable that the injected into the optical waveguide beams can escape through the deflection of the optical waveguide.
  • the beam is again reflected back towards the holographic optical element.
  • the beam can transmit unimpeded upon a renewed impact by the holographic optical element.
  • a beam coupled into the optical waveguide can be decoupled from the waveguide transversely to an extension of the optical waveguide and used to expose a scanning region.
  • the at least one beam coupled into the optical waveguide is made of
  • the Spatial Light Modulator of the deflection device has a plurality of pixels that can reflect a coupled incoming beam at defined and varying angles.
  • the Spatial Light Modulator can take over the task of a movable mirror.
  • the components required for a conventional pivotable deflection mirror such as rotation unit, drive units,
  • Parabolic mirrors and the like omitted and the required space for the LIDAR device can be reduced.
  • Deflection device at least partially radiation-conducting connected to a reflection side of the optical waveguide.
  • the deflection device can be attached to a core of the optical waveguide in a form-fitting, cohesive or force-fit manner, for example.
  • the deflection device can be attached to a light-conducting substrate in a form-fitting, cohesive or force-fit manner.
  • the deflection device can be mounted at any point of an optical waveguide, so that, for example, the
  • Optical waveguide can be made interchangeable. This type of connection also allows for subsequent replacement of the respective components and can facilitate assembly of the LIDAR device.
  • the deflection device can be connected in a radiation-conducting manner, at least in regions, integrally with the optical waveguide.
  • the deflection device can be materially connected to the optical waveguide. This can be realized for example by subsequent gluing of the components.
  • Components such as the holographic optical element already in a production of the optical waveguide in an outer jacket of the
  • decoupled beam arranged. After a coupled-in beam has been coupled out of the optical waveguide by the deflection device, it can be subsequently formed by at least one optical system or at least one optical element. For example, the at least one outcoupled beam can be deflected in such a way that the LIDAR device can have a larger emission angle. Thus, a larger scanning area can be exposed. Multiple outcoupled beams may be formed alternatively or in addition to a line-shaped beam which may be used to expose the scan area.
  • the at least one optical element is an inverted Kepler telescope.
  • Two focusing lenses of different focal lengths can be arranged relative to each other such that a first focal plane of the first lens and a second focal plane of the second lens coincide.
  • a Kepler telescope can be realized.
  • the optical arrangement is a reversed Kepler telescope which can be used for beam broadening. In particular, in this way a scanning angle and thus also the scanning range of the LIDAR device can be increased.
  • the optical element has two lenses which have a common focal plane. An interpretation of the LIDAR device can be simplified if the focal plane of the first lens and the focal plane of the second lens
  • the at least one beam coupled out of the optical waveguide by the deflection device can thereby be widened or deflected at an exit angle in accordance with a ratio of the second focal length and the first focal length
  • the at least one radiation source couples the at least one beam via a generating optical system into the at least one optical waveguide.
  • the at least one generated beam can thereby independently of a
  • Radiation source are optimally coupled into the optical waveguide.
  • the at least one generated beam can be coupled into the optical waveguide in such a way that it is guided by the optical waveguide at an optimum angle by total reflections on the reflection sides of the optical waveguide.
  • the reflection sides of the optical waveguide can also be interfaces between two regions with different refractive indices. As a result, manufacturing tolerances and assembly-related deviations between the radiation source and the optical waveguide can be compensated.
  • Generation optics can here consist of one or more optical elements, such as lenses.
  • the optical elements can also be partially or completely integrated into the optical waveguide or at least partially connected to the optical waveguide.
  • a plurality of radiation sources which can couple beams generated in parallel or sequentially into one or more optical waveguides.
  • at least one radiation source can couple at least one generated beam into a plurality of optical waveguides via corresponding generation optics.
  • FIG. 1 shows a schematic representation of a LIDAR device according to a first exemplary embodiment.
  • FIG. 1 shows a schematic illustration of a LIDAR device 1 according to a first exemplary embodiment.
  • the LIDAR device 1 has a radiation source 2.
  • the radiation source 2 here is an infrared laser 2, which generates coherent laser beams 3.
  • the radiation source 2 is positioned such that the generated beams 3 via a generating optics 4 in a
  • Fiber optic 6 are coupled.
  • a coupled into the optical waveguide 6 beam 5 is completely reflected on reflection sides 8, 10 of the optical waveguide 6 and thus follows a profile of the optical waveguide 6.
  • In the course of the optical waveguide 6 is on a reflection side 8 of
  • Optical waveguide 6 a holographic optical element 12 is arranged.
  • the holographic optical element 12 is according to the embodiment
  • Volume hologram 12 which has angle-selective optical functions. At an angle of, for example, less than 1 ° relative to the
  • the volume hologram 12 has an optical
  • the angle of the incident rays 5 must be smaller than a total reflection angle of the
  • a coupled beam 5 is at a hitting the volume hologram 12 by the optical deflection function at a larger angle relative to the reflection side 8 in the direction of
  • a spatial light modulator 14 is arranged on the opposite reflection side 10 of the optical waveguide 6.
  • the volume hologram 12 and the spatial light modulator 14 together form a deflection device 16 of FIG.
  • the Spatial Light Modulator 14 has a plurality of pixels that can reflect a beam in defined directions. The respective pixels can be controlled individually or jointly depending on the sampling rate and the request of the LIDAR device 1.
  • the spatial light modulator 14 is an LCoS (liquid crystal on silicon).
  • the Spatial Light Modulator 14 serves as a compact
  • the at least one beam deflected by the volume hologram 12 onto the LCoS 14 is reflected by the LCoS 14 again in the direction of the volume hologram 12.
  • the incoming beam has a greater angle relative to the reflection side 8 of the optical waveguide 6 due to the redirecting and re-reflecting on the LCoS 14.
  • the beam 7 reflected by the LCoS 14 can transmit unimpeded through the volume hologram 12 because of the angular selectivity of the optical function of the volume hologram 12. As a result, the at least one beam 7 is coupled out of the optical waveguide 6.
  • Deflection device 16 couples the beam 7 transversely to a course of the
  • optical waveguide 6 off.
  • An optical element 18 adjoins the volume hologram 12.
  • the optical element 18 here is an inverted Kepler telescope 18, which consists of a first lens 20 and a second lens 22.
  • the second lens 22 has a greater focal length than the first lens 20.
  • the optical element 18 is a beam expansion of the coupled-out beam 7. After passing the decoupled beam 7 through the optical element 18, the decoupled beam 7 becomes at least one emitted beam 9. Due to the optical element 18, the emitted beam 9 has a larger emission angle than the at least one decoupled beam
  • a plurality of beams 7 coupled out at different angles and subsequently emitted beams 9 are shown in dashed lines.
  • a scanning angle with the emitted beams 9 can be exposed.
  • the optical waveguide 6 can be rotated or pivoted with the deflection device 16 to a second scanning angle and thus a spatial
  • the emitted beams 9 may be reflected on the object 24 or scattered back to the LIDAR device 1. As a result, the emitted beams 9 become reflected beams 1 1.
  • the beams 1 1 reflected or scattered on the object 24 can subsequently be received by a receiving optical unit 26.
  • the receiving optics 26 are shown in the figure for illustration as a lens 26.
  • the receiving optics 26 may consist of several lenses, filters and consist of diffractive optical elements.
  • the at least one reflected beam 1 1 is received by the receiving optics 26 and directed to a subsequently positioned detector 28.
  • the detector 28 has a multiplicity of detector pixels which can receive the reflected beam 11 and convert it into an analog detector signal.
  • the analog detector signal can

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  • 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

L'invention concerne un dispositif Lidar servant à balayer une zone de balayage par au moins un faisceau, lequel comprend au moins une source de rayonnement destinée à produire ledit au moins un faisceau et à injecter ledit au moins un faisceau dans au moins un guide d'ondes optiques, un dispositif de déviation destiné à dévier ledit au moins un faisceau dans la zone de balayage, qui comporte une unité de réception destinée à recevoir au moins un faisceau réfléchi sur un objet et à dévier ledit au moins un faisceau réfléchi sur un détecteur, le dispositif de déviation comprenant un élément optique holographique et un modulateur spatial de lumière.
EP18726456.9A 2017-05-26 2018-05-22 Dispositif lidar pour balayer une zone de balayage à encombrement réduit au minimum Withdrawn EP3631498A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017208896.6A DE102017208896A1 (de) 2017-05-26 2017-05-26 LIDAR-Vorrichtung zum Abtasten eines Abtastbereiches mit minimiertem Bauraumbedarf
PCT/EP2018/063295 WO2018215407A1 (fr) 2017-05-26 2018-05-22 Dispositif lidar pour balayer une zone de balayage à encombrement réduit au minimum

Publications (1)

Publication Number Publication Date
EP3631498A1 true EP3631498A1 (fr) 2020-04-08

Family

ID=62222686

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18726456.9A Withdrawn EP3631498A1 (fr) 2017-05-26 2018-05-22 Dispositif lidar pour balayer une zone de balayage à encombrement réduit au minimum

Country Status (3)

Country Link
EP (1) EP3631498A1 (fr)
DE (1) DE102017208896A1 (fr)
WO (1) WO2018215407A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019206378B4 (de) 2019-05-03 2023-06-22 Audi Ag Abstandsmesssystem

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7544945B2 (en) * 2006-02-06 2009-06-09 Avago Technologies General Ip (Singapore) Pte. Ltd. Vertical cavity surface emitting laser (VCSEL) array laser scanner
JP2008286565A (ja) 2007-05-16 2008-11-27 Omron Corp 物体検知装置
US8905610B2 (en) 2009-01-26 2014-12-09 Flex Lighting Ii, Llc Light emitting device comprising a lightguide film
LU91737B1 (en) * 2010-09-17 2012-03-19 Iee Sarl Lidar imager
US10557923B2 (en) * 2015-02-25 2020-02-11 The Government Of The United States Of America, As Represented By The Secretary Of The Navy Real-time processing and adaptable illumination lidar camera using a spatial light modulator

Also Published As

Publication number Publication date
WO2018215407A1 (fr) 2018-11-29
DE102017208896A1 (de) 2018-11-29

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