EP4078216A1 - Unité de transmission et dispositif lidar ayant un homogénéisateur optique - Google Patents

Unité de transmission et dispositif lidar ayant un homogénéisateur optique

Info

Publication number
EP4078216A1
EP4078216A1 EP20808323.8A EP20808323A EP4078216A1 EP 4078216 A1 EP4078216 A1 EP 4078216A1 EP 20808323 A EP20808323 A EP 20808323A EP 4078216 A1 EP4078216 A1 EP 4078216A1
Authority
EP
European Patent Office
Prior art keywords
cylindrical microlenses
unit according
sending unit
optical homogenizer
transmission
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
EP20808323.8A
Other languages
German (de)
English (en)
Inventor
Andre ALBUQUERQUE
Dionisio Pereira
Stefan Spiessberger
Anne Schumann
Albert Groening
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 EP4078216A1 publication Critical patent/EP4078216A1/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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0927—Systems for changing the beam intensity distribution, e.g. Gaussian to top-hat
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/095—Refractive optical elements
    • G02B27/0955—Lenses
    • G02B27/0961—Lens arrays
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
    • G02B27/0938—Using specific optical elements
    • G02B27/095—Refractive optical elements
    • G02B27/0955—Lenses
    • G02B27/0966—Cylindrical lenses

Definitions

  • the invention relates to a transmission unit of a LIDAR device, having at least one radiation source for generating electromagnetic radiation with a linear or rectangular cross section.
  • the invention also relates to a LIDAR device with such a transmission unit.
  • LIDAR sensors are used, for example, to create precise three-dimensional maps.
  • LIDAR sensors have a pulsed laser and optics for shaping the generated beams. Based on a time-of-flight analysis, distances between the LIDAR sensor and objects in the scanning area can be determined.
  • the maximum range of the LIDAR sensor is essentially limited to the amount of light reflected from the scanning area, which can still be reliably received and evaluated by a detector.
  • a common approach to increasing the range of a LIDAR sensor is to use more powerful radiation sources.
  • the usable radiation power from radiation sources, such as lasers is limited to ensure eye safety.
  • the object on which the invention is based can be seen in proposing a transmitting unit and a LIDAR device which provide a homogeneous beam distribution for scanning scanning areas and which comply with the limit values of the radiation power with regard to eye safety.
  • a transmission unit of a LIDAR device has at least one radiation source for generating electromagnetic rays with a linear or rectangular cross section and transmission optics.
  • the transmission unit has an optical homogenizer with at least one lens array, which is arranged in a beam path of the generated beams before or after the transmission optics.
  • the limit values with regard to eye safety are defined by the maximum permissible radiation power of the radiation source per area.
  • the at least one radiation source can be, for example, a laser or an LED.
  • the generated rays produce a peak or an intensity maximum which can reach or exceed the limit value.
  • Using the optical homogenizer avoids such peaks in the distribution of the radiation power of the generated beams.
  • the Generated rays can thus have a flat or constant intensity distribution or radiation power distribution which does not contain any peaks.
  • the transmission unit can optionally have the transmission optics, which can consist of lenses, prisms and filters, for example. Furthermore, depending on the configuration of the transmission unit, further optical elements, micromirrors, macromirrors and the like can be provided.
  • the radiation source can emit generated beams with a linear cross section, which are pivoted along an axis by moving the transmitting unit or a mirror in order to expose a scanning area.
  • the optical homogenizer By using the optical homogenizer, beams for scanning the scanning area can be provided which have a constant or plateau-shaped intensity distribution in the near area. In this way, the radiation output can be increased while at the same time guaranteeing the limit values for eye safety. Complex and actively controlled regulation mechanisms and detection mechanisms, which represent an additional source of errors, can be dispensed with.
  • the transmission unit can be designed in a technically simple manner and, for example, have only one optical element or the transmission optics.
  • the optical homogenizer has two spaced apart lens arrays with a multiplicity of cylindrical microlenses, the cylindrical microlenses each being arranged on a surface of the lens arrays. Image planes of the cylindrical microlenses are preferably arranged on a focal plane within a distance between the lens arrays.
  • the focal plane can be arranged centered between the two lens arrays and aligned parallel to a flat extension of the lens arrays.
  • the cylindrical microlenses of the two lens arrays preferably have the same alignment and run transversely to a direction of propagation of the generated rays.
  • the cylindrical microlenses can form a one-dimensional array which is arranged on one side on each lens array.
  • a second surface of the respective lens arrays can be shaped flat.
  • Each cylindrical microlens of the first lens array can image the incoming generated rays on the focal plane.
  • Each cylindrical microlens of the first lens array thus images the generated rays on the focal plane, the respective images of the cylindrical microlenses overlapping at least in some areas.
  • the image plane of the cylindrical microlenses of the first lens array is preferably an object plane of the cylindrical microlenses of the second lens array.
  • a large number of optical images of the radiation source are thus imaged on the focal plane, which are offset in height from one another.
  • the cylindrical microlenses of the second lens array use the images on the focal plane as objects for a new superimposed image and thus ensure optimal uniformity of the rays.
  • the lens arrays of the optical homogenizer are arranged in such a way that the surfaces provided with the cylindrical microlenses are directed in the direction of the at least one radiation source.
  • the lens arrays of the optical homogenizer are arranged in such a way that the surfaces provided with the cylindrical microlenses are directed towards or away from one another.
  • the optical homogenizer has a lens array with a first surface and a second surface, a multiplicity of cylindrical microlenses being arranged on the first surface and the second surface.
  • the image planes of the cylindrical microlenses are preferably between the first surface and the second surface arranged.
  • the respective surfaces of the lens array point away from one another.
  • the cylindrical microlenses of the respective surfaces thus also point away from one another.
  • the focal plane or the image planes of the cylindrical microlenses of the first surface are preferably within the lens array, in particular in a center of the lens array.
  • the cylindrical microlenses of the second surface are designed in such a way that they use the common image plane of the cylindrical microlenses of the first surface as the object plane. In this way, a particularly homogeneous intensity distribution can be set for the beams to be emitted.
  • the image planes of the cylindrical microlenses are set centrally between the first surface and the second surface.
  • the cylindrical microlenses of the second surface can use the distributed or superimposed images of the radiation source in order to provide a homogeneous intensity distribution.
  • the cylindrical microlenses on both surfaces of the lens arrays can be configured identically, as a result of which the optical homogenizer can be manufactured in a particularly cost-effective manner.
  • the transmission unit has a homogenization plane which is arranged in the area of the transmission optics.
  • the transmission optics are set up to form a line-shaped illumination.
  • a number of the cylindrical microlenses, a shape of the cylindrical microlenses and / or a size of the cylindrical microlenses are the lens arrays of the optical homogenizer configured to be the same or different from one another.
  • the shape of the cylindrical microlenses and / or the size of the cylindrical microlenses within an area of the lens array are preferably designed to be constant or varying.
  • the number of cylindrical microlenses, their size and their size distribution along a surface of a lens array can be varied in such a way that optical properties of the transmission unit are adapted to different areas of use.
  • the generated rays can be homogenized by the cylindrical microlenses along a direction transverse to the extension of the cylindrical microlenses.
  • the at least one radiation source is designed as an array of emitters, the emitters being arranged in such a way that the beams generated by the radiation source form a rectangular and / or elongated scanning pattern.
  • the radiation source can be designed as a one-dimensional or two-dimensional array of emitters.
  • the emitters can be surface emitters or so-called VCSELs or edge emitters.
  • the emitters can be designed as LEDs or lasers.
  • the emitters can be designed as fiber diode bars or as fiber lasers with planar waveguides or a fiber splitter arrangement.
  • a LIDAR device for scanning scan areas.
  • the LIDAR device has a transmitting unit according to the invention and a receiving unit.
  • the transmission unit of the LIDAR device has at least one radiation source for generating rays.
  • the receiving unit has at least one detector for detecting rays.
  • the receiving unit can have receiving optics for receiving the beams backscattered and / or reflected from the scanning area, which optics then focus the received beams onto the at least one detector.
  • the detector can be positioned in a focal plane of the receiving optics.
  • the at least one detector of the receiving unit can be designed, for example, as a CCD sensor, CMOS sensor, APD array, SPAD array and the like.
  • the LIDAR device can be designed as a flash LIDAR or a solid-state LIDAR without moving components.
  • the LIDAR device or parts of the LIDAR device can be designed to be rotatable or pivotable along at least one axis of rotation.
  • the LIDAR device can optionally be a micro-scanner or a macro-scanner.
  • FIG. 1 shows a schematic representation of a LIDAR device according to an embodiment
  • FIG. 3 shows a sectional illustration of a one-piece optical homogenizer
  • FIG. 5 shows a schematic intensity distribution of the beams within the plane E from FIG. 4 without an optical homogenizer
  • FIG. 6 shows a schematic intensity distribution of the beams within the plane E from FIG. 4 with an optical homogenizer
  • FIG. 7 is a diagram for illustrating a change in the intensity distribution through the use of the optical homogenizer.
  • FIG. 1 shows a schematic representation of a LIDAR device 1 according to one embodiment.
  • the LIDAR device 1 has a transmitting unit 2 and a receiving unit 4.
  • the transmission unit 2 has a radiation source 6 with a multiplicity of emitters 8.
  • the emitters 8 are designed as an array of surface emitters.
  • the emitters 8 can emit generated beams 7 with a wavelength range, for example infrared.
  • the beams 7 generated by the radiation source 6 are bundled by a transmission optics 10.
  • the transmission optics 10 are shaped as a cylindrical lens which extends in the height direction y and has the height direction y as the axis of rotation.
  • the radiation source 6 generates rays 7 with a linear or cuboid cross-section.
  • the cross section of the rays 7 extends oblong along the height direction y.
  • the generated beams 7 can be collimated by the transmission optics 10.
  • optical element 11 which is designed as part of the transmission optics 10, can be used to take over the vertical beam shaping.
  • the optical element 11 can also be designed as a microlens array or as a so-called honeycomb condenser.
  • An optical homogenizer 12 is arranged in the beam path in front of the transmission optics 10 and 11.
  • the optical homogenizer 12 is exemplified as a one-piece lens array and is described in more detail in the following figures.
  • the optical homogenizer 12 generates beams with a more uniform intensity distribution than the generated beams 7 and enables homogeneous illumination approximately in the area of the optical element 11 or the transmission optics 10.
  • the receiving unit 4 has a detector 14.
  • the detector 14 can receive rays 15 reflected and / or backscattered from the scanning area 1 and convert them into electrical measurement data.
  • the receiving unit 14 can have optional receiving optics which shape the reflected and / or backscattered beams 15 or focus them on the detector 14.
  • FIG. 2 shows a sectional illustration of a two-part optical homogenizer 13.
  • the optical homogenizer 13 has a first lens array 16 and a second lens array 18.
  • Each lens array 16, 18 has a multiplicity of cylindrical microlenses 20.
  • the cylindrical microlenses 20 are each arranged on a surface 22 of the respective lens array 16, 18.
  • the cylindrical microlenses 20 run in a transverse direction x or transverse to the height direction y.
  • a surface 24 arranged opposite the cylindrical microlenses 20 is flat or has no further structuring or contouring.
  • the lens arrays 16, 18 are aligned such that the flat surfaces 24 face one another.
  • the generated rays 7 are focused by the respective cylindrical microlenses 20 of the first lens array 16 and imaged on a focal plane F.
  • each cylindrical microlens 20 generates an image 26 on the focal plane F.
  • the images 26 of the cylindrical microlenses 20 are imaged along the focal plane F in an overlapping manner in the height direction y.
  • the images 26 of the cylindrical microlenses 20 of the first lens array 16 are used as objects by the cylindrical microlenses 20 of the second lens array 18.
  • the already overlapped images 26 are focussed and overlapped again, whereby a homogeneous intensity distribution of the resulting beams 9, which are emitted into the scanning area A, is created.
  • the focal plane F here forms an image plane for the first lens array 16 and for the second lens array 18.
  • the respective focal points of the cylindrical Microlenses can preferably be arranged offset to the focal plane F.
  • FIG. 3 shows a sectional illustration of a one-piece optical homogenizer 12. In contrast to the optical homogenizer 13 shown in FIG. 2, this is made in one piece.
  • the one-piece optical homogenizer 12 has a lens array 28 with a first surface 22 and a second surface 24.
  • the cylindrical microlenses 20 are arranged both on the first surface 22 and on the second surface 24.
  • the cylindrical microlenses 20 of the respective surfaces 22, 24 have a common image plane which runs through the focal plane F.
  • the focal plane F runs centrally or centered through the lens array 28 in the direction of propagation z of the rays 7.
  • FIG. 4 shows a perspective illustration of the one-piece optical homogenizer 12 with an exemplary beam path. Furthermore, a plane E is illustrated, which is used to illustrate the other figures. The plane E is arranged downstream of the optical homogenizer 12 and extends in an x-y plane which runs transversely to the direction of propagation z.
  • FIG. 5 shows a schematic intensity distribution I of the beams 9 emitted into the scanning area A within the plane E from FIG. 4 without the use of an optical homogenizer 12.
  • the rays 9 have a transverse intensity distribution I with a clearly pronounced peak.
  • the intensity distribution I is designed to be essentially Gaussian.
  • FIG. 6 shows a schematic intensity distribution I of the rays 9 within the plane E from FIG. 4 with an optical homogenizer 12 used. Here, a clear deviation from the Gaussian intensity distribution I from FIG. 5 can be seen.
  • the rays 9 have a homogenized intensity distribution I.
  • the diagram shows an intensity I along the height direction y and illustrates the constant intensity profile I2 of the beams 9, which can be set by the optical homogenizer 12, 13.
  • one or more optics 30, which bring the rays 7 into a desired shape are located in the homogenization plane E.
  • the at least one optics 30 can serve as a collimation for producing a small divergence in one spatial direction and for producing a fanning out or a large divergence in the other spatial direction.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Optical Scanning Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Microscoopes, Condenser (AREA)

Abstract

L'invention concerne une unité de transmission d'un dispositif LIDAR, comprenant au moins une source de faisceau pour générer des faisceaux électromagnétiques ayant une section transversale linéaire ou rectangulaire et comprenant une optique de transmission, l'unité de transmission comprenant un homogénéisateur optique qui est disposé dans un trajet de faisceau des faisceaux générés devant ou derrière l'optique de transmission et qui comporte au moins un réseau de lentilles. L'invention concerne également un dispositif LIDAR.
EP20808323.8A 2019-12-17 2020-11-16 Unité de transmission et dispositif lidar ayant un homogénéisateur optique Pending EP4078216A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019219825.2A DE102019219825A1 (de) 2019-12-17 2019-12-17 Sendeeinheit und LIDAR-Vorrichtung mit optischem Homogenisierer
PCT/EP2020/082189 WO2021121818A1 (fr) 2019-12-17 2020-11-16 Unité de transmission et dispositif lidar ayant un homogénéisateur optique

Publications (1)

Publication Number Publication Date
EP4078216A1 true EP4078216A1 (fr) 2022-10-26

Family

ID=73476097

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20808323.8A Pending EP4078216A1 (fr) 2019-12-17 2020-11-16 Unité de transmission et dispositif lidar ayant un homogénéisateur optique

Country Status (7)

Country Link
US (1) US20230003843A1 (fr)
EP (1) EP4078216A1 (fr)
JP (1) JP7354451B2 (fr)
KR (1) KR20220110573A (fr)
CN (1) CN114868031A (fr)
DE (1) DE102019219825A1 (fr)
WO (1) WO2021121818A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021208949A1 (de) * 2021-08-16 2023-02-16 Robert Bosch Gesellschaft mit beschränkter Haftung LiDAR-Vorrichtung

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19841040A1 (de) * 1997-09-10 1999-03-11 Alltec Angewandte Laser Licht Vorrichtung zum Markieren einer Oberfläche mittels Laserstrahlen
JP5124864B2 (ja) * 2006-06-07 2013-01-23 本田技研工業株式会社 光学装置および移動装置
US9798126B2 (en) * 2015-08-25 2017-10-24 Rockwell Automation Technologies, Inc. Modular illuminator for extremely wide field of view
JP6332491B1 (ja) * 2017-02-13 2018-05-30 オムロン株式会社 レーザ照明装置およびこれを備えた周辺監視センサ
DE102017208052A1 (de) * 2017-05-12 2018-11-15 Robert Bosch Gmbh Senderoptik für ein LiDAR-System, optische Anordnung für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung
DE202018006696U1 (de) * 2017-05-15 2022-04-01 Ouster, Inc. Optischer Bildübertrager mit Helligkeitsverbesserung

Also Published As

Publication number Publication date
WO2021121818A1 (fr) 2021-06-24
KR20220110573A (ko) 2022-08-08
JP7354451B2 (ja) 2023-10-02
DE102019219825A1 (de) 2021-06-17
US20230003843A1 (en) 2023-01-05
JP2023506280A (ja) 2023-02-15
CN114868031A (zh) 2022-08-05

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