WO2015018836A1 - Dispositif de détection de lumière et procédé de commande - Google Patents

Dispositif de détection de lumière et procédé de commande Download PDF

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Publication number
WO2015018836A1
WO2015018836A1 PCT/EP2014/066836 EP2014066836W WO2015018836A1 WO 2015018836 A1 WO2015018836 A1 WO 2015018836A1 EP 2014066836 W EP2014066836 W EP 2014066836W WO 2015018836 A1 WO2015018836 A1 WO 2015018836A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
diffraction grating
diffraction
light beams
incident
Prior art date
Application number
PCT/EP2014/066836
Other languages
German (de)
English (en)
Inventor
Jan Sparbert
Holger Rank
Annette Frederiksen
Stefan Noll
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 WO2015018836A1 publication Critical patent/WO2015018836A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—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
    • 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
    • G02B26/0808—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 diffracting elements
    • 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
    • G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
    • G02B27/4233—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application
    • G02B27/4238—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive element [DOE] contributing to a non-imaging application in optical recording or readout devices
    • 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
    • G02B26/101—Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners

Definitions

  • the present invention relates to a light detecting device, and more particularly to a lidar device having a light detecting device and control methods for a light detecting device and a lidar device.
  • PRIOR ART EP 0 448 1131 A2 describes a lidar scanning system which has a rotating polygon mirror which transmits modulated light from one of its facets to a surface. The light diffusely reflected back from the surface is reflected by another facet of the polygon mirror onto a photodetector. The use of different optical paths for the transmitted and reflected light improves the signal-to-noise ratio.
  • the present invention discloses a light detection device having the features of claim 1, a lidar device having the features of claim 4 and a control method having the features of claim 10.
  • a light detection device with a
  • Light-focusing device for coupling light beams into the light-detecting device; a micromechanical diffraction grating, wherein the Lichtfokussier coupled and the micromechanical diffraction grating are formed and arranged with respect to each other so that by means of the Lichtfokussier coupled light beams are at least partially focused on the diffraction grating, wherein the diffraction grating is further designed such that incident on the diffraction grating light beams in Dependent on adjustable diffraction properties of the diffraction grating, at least in part to a light sensor are diffractable, which for measuring on the light sensor incident light beams is formed; and a control device configured to adjust the diffraction characteristics of the diffraction grating.
  • a lidar device with the light detection device according to the invention is provided; and a scanning device configured to scan a scanning area by means of light beams; wherein the Lichtfokussier observed is formed such that from the scanning area on the lidar device incident light beams, are focused on the diffraction grating.
  • a control method is provided with the method steps: coupling of light beams into the light-detecting device by means of a light-focusing device; Focusing coupled light beams onto a micromechanical diffraction grating by means of the light focusing device; Diffraction of light rays incident on the diffraction grating depending on adjustable diffraction characteristics of the diffraction grating; and adjusting the diffraction characteristics of the diffraction grating.
  • adjustable micromechanical diffraction gratings with controllable diffraction properties can advantageously be used in light-detecting devices in order to reduce the influence of stray light on the light detection of useful light.
  • Useful light is such light which has desirable properties, strikes the light detection device from a desired solid angle region, and / or originates from a desired source.
  • Steady light may be, for example, such light which originates from undesired sources, such as from the sun, or which strikes the light-detecting device from an undesired solid angle range.
  • the micro-mechanical diffraction grating may be, for example, a "Grating Light Valve TM" (GLV) Such a diffraction grating may assume two different states: In a first, “specular state", incident light is reflected as if from a mirror. In a second state, the diffraction state, the light is diffracted, essentially in the direction of first order diffraction maxima, and such a diffraction grating, for example a GLV, can have a fast switching time, so that it can may be possible The GLV is adaptively switched so that only light from a currently scanned solid angle or solid angle range is directed to the light sensor.
  • GLV Grating Light Valve TM
  • the diffraction grating can take on the task of an adaptive, direction-selective diaphragm, which transmits only light from a certain direction and directs it to the light sensor. Interference and ambient light from the other spatial directions, however, can be greatly attenuated. Compared to other solutions, therefore, there is considerable cost savings potential.
  • a light beam which is used in a lidar device for scanning a scanning
  • the light source of the lidar device which generates light or laser beams with known properties, advantageous synergy effects.
  • the guiding effect of the diffraction grating may be that a diffraction pattern of the incident light is produced when the light strikes the diffraction grating.
  • the diffraction pattern has diffraction minima and diffraction maxima, wherein the intensity of the diffraction maxima usually decreases with increasing order of the diffraction maxima.
  • the diffraction grating can be controlled such that the diffraction pattern is adapted such that a diffraction maximum of useful light impinges on the light sensor and / or a diffraction minimum of stray light impinges on the light absorber.
  • the diffraction maxima of the light can thus be "diffracted towards the light sensor".
  • the diffraction grating has reflective strips arranged in parallel.
  • the diffraction properties of the diffraction grating are adjustable at least in that a first plurality of the reflective strips are temporarily lowerable compared to a second plurality of the reflective strips temporarily in a direction perpendicular to the direction in which the strips are arranged parallel to one another is. For example, every second, every third, etc. strip can be lowered in each case.
  • a depth of lowering of the first plurality of reflective strips can be adjusted in particular as a function of the diffraction properties of the diffraction grating from the light beams incident on the diffraction grating reflective strip can be lowered compared to the second plurality of reflective strips, for example, by a fraction of a wavelength advantageously to diffracting beams.
  • the diffraction grating has a matrix with a plurality of separately controllable sections, wherein the diffraction properties of each of the separately controllable sections can be adjusted separately.
  • the diffraction grating can be used, for example, particularly simply as a direction-selective diaphragm.
  • the scanning device of the lidar device has a light source, by means of which the light beams can be generated, and an adjustable mirror device, which is designed and arranged with respect to the light source such that the generated light beams are used to scan the scanning region by means of the mirror device are distractible.
  • the light source is designed to generate the light beams in such a way that they essentially have a specific wavelength.
  • the control device can furthermore be designed to control the diffraction grating in such a way that by means of the diffraction grating a first diffraction maximum of those of the light beams incident on the diffraction grating and having the specific wavelength can be diffracted at least in part towards the light sensor.
  • the diffraction grating can also be controlled in such a way that, by means of the diffraction grating, a second diffraction maximum of those of the light beams incident on the diffraction grating and having a wavelength other than the specific wavelength can be diffracted at least in part towards a first light absorber.
  • the first and / or second diffraction maximum may, for example, be a diffraction maximum with the respective highest intensity of a specific diffraction spectrum, for example a first order diffraction maximum. This allows targeted light - with the specific Wavelength - be directed to a greater extent on the light sensor as stray light, which has a different wavelength from the specific wavelength.
  • control device is designed to control the adjustable mirror device in such a way that the adjustable mirror device deflects the generated light beams into a first solid angle of the scanning region.
  • the control device can furthermore be designed to control the diffraction grating in such a way that, by means of the diffraction grating, a third diffraction maximum of those of the light rays impinging on the diffraction grating, which impinge on the diffraction grating from the first solid angle of the scanning region, diffracts at least in part towards the light sensor is.
  • the diffraction grating may also be controlled such that a fourth diffraction maximum of those of the light beams incident on the diffraction grating incident on the diffraction grating from a second solid angle of the scanning region different from the first solid angle, at least in part toward a second light absorber is bendable.
  • useful light which emanates from a currently sampled solid angle or solid angle range, can be directed to a greater extent onto the light sensor than stray light, which emanates from a solid angle or solid angle range other than the currently sampled solid angle.
  • the light focusing device has a lens and / or a lens. It can also be provided more complicated optics or optical devices.
  • the micromechanical diffraction grating functions as a bandpass filter in the infrared range. As a result, unwanted artifacts and stray light effects in the light sensor can be further reduced.
  • the control method further comprises the method steps: generating light beams, which essentially have a specific wavelength, by means of a light source; Diffracting a first diffraction peak from those of the light rays incident on the diffraction grating having the particular wavelength at least in part toward the light sensor; and / or bending a second diffraction maximum of those of the At least in part to a first light absorber towards the grating incident light beams having a different wavelength than the specific.
  • control method further comprises the method steps: deflecting light beams generated by a light source into a first solid angle of a scanning range by means of an adjustable mirror device; Diffracting a third diffraction peak of such light rays incident on the diffraction grating from the first solid angle of the scanning region, at least in part, toward the light sensor by means of the diffraction grating;
  • FIG. 1 is a schematic representation of a lidar device according to a first embodiment of the present invention.
  • FIGS. 2A and 2B schematically illustrate a light detection device according to a second embodiment of the present invention for illustrating a possible function.
  • Fig. 1 shows a schematic representation of a lidar device according to a first embodiment of the present invention.
  • the lidar device has a light detection device 7, a scanning device 5 and an evaluation device 24.
  • the scanning device 5 comprises a light source 10, by means of which light beams 30 can be generated, and an adjustable mirror device 12.
  • the adjustable mirror device 12 is a micromechanical mirror which is gimballed on two axes. It is also conceivable, however, a number of other adjustable mirror devices 12, ie mirror devices whose reflective element can in particular be rotated or pivoted.
  • the light beams 30 generated by the light source 10 and deflected by the adjustable mirror device 12 are emitted into the scanning region for scanning a scanning region, for example a solid angle region.
  • the scanning may include that, according to a predetermined grid or predetermined scanning lines in the continuous or pulsed operation of the light source 10, the light beams 30 are sent in a solid angle of the scanning range.
  • the light beams 30 may strike an external object 14.
  • the light rays 30 may be reflected back in whole or in part as reflected light rays 32 in the direction of the lidar device.
  • the light detection device 7 is configured to at least partially detect the reflected light beams 32. For example, from a comparison of information about the generation of the light beams 30 in the light source 10 and the reflected light beams 32 detected by the light detection device 7, the evaluation device 24 may, for example, create a three-dimensional distance image or a hologram of the external object 14 in the scanning area.
  • the light detection device 7 has a light focusing device 16 for coupling the reflected light beams 32 into the light detection device 7.
  • the light detection device 16 may include, for example, a lens and / or a lens. However, numerous other elements may also be provided in or on the light-focusing device 16, which influence the beam path and / or properties of the light beams 32 to be coupled in by means of the light-focusing device.
  • a light sensor 20 and a micro-mechanical diffraction grating 18 are further formed.
  • the light focusing device 16 and the micro-mechanical diffraction grating 18 are designed and arranged with respect to one another such that light beams 34 coupled in by means of the light focusing device 16 are provided. at least partially focusable on the diffraction grating 18. Accordingly, it may be provided that only those of the coupled-in light beams 34 can be focused on the diffraction grating 18, which satisfy certain properties, for example with regard to their wavelength and / or their direction of incidence.
  • the diffraction grating 18 is designed in such a way that the coupled-in light beams 34 impinging on the diffraction grating 18 are deflectable at least in part towards the light sensor 20 as a function of adjustable diffraction properties of the diffraction grating 18. That is, the light beams 34 impinging on the diffraction grating 18 are diffracted in such a way that at least one diffraction maximum of a diffraction pattern that arises at least partially overlaps the light sensor 20.
  • a first-order diffraction maximum can be directed towards the light sensor 20 or diffracted.
  • the light sensor 20 is configured to measure light rays 36 incident on the light sensor 20. In this case, he can in particular measure a time of impact, a wavelength of the impinging light beams 36 and / or a radiation power of the impinging light beams 36 and, for example to the evaluation device 24, forward corresponding information.
  • control device 22 may be formed.
  • the control device 22 can also control the generation of the light beams 30 by means of the light source 10 and / or the deflection of the generated light beams 30 by means of the adjustable mirror device 12.
  • separate control devices can also be provided for the light source 10 and / or the adjustable mirror device 12.
  • One or all of the mentioned control devices can be designed as electronic or electromechanical components, but also purely as software that can be executed on a processor.
  • Figs. 2A and 2B schematically show a light detecting device according to a second embodiment of the present invention for illustrating a possible function.
  • the reflected light beams 32 are incident on the light focusing device 16.
  • the light beams 32 impinging on the light focusing device 16 may, in particular, be those light beams which have been emitted for scanning the scanning region and which are incident on the object 14 in the scanning region on the
  • the diffraction grating 18 is designed and / or is controllable in such a way that the diffraction grating Transmission grating focused 18, ie the incident on the diffraction grating 18 light rays 34, which meet certain characteristics, can be diffracted by the diffraction grating 18 targeted.
  • the light beams 34 incident on the diffraction grating may be diffracted such that a first order diffraction peak of the diffraction pattern of light beams 36 diffracted by the diffraction grating 18 is diffracted toward the light sensor 20.
  • the angle of the diffraction peak with respect to a diffractive surface of the diffraction grating 18 depends on the wavelength of the light rays 34 incident on the diffraction grating 18 and on a grating constant of the diffraction grating 18. Thus, for example, it can be achieved that only those light beams 34 which have a specific wavelength are diffracted such that their first order diffraction maximum falls on the light sensor 20.
  • the light source 10 When using the light detection device 7 in, for example, the lidar device according to FIG. 1, provision can be made for the light source 10 to generate the light rays 30 essentially with a specific wavelength.
  • the diffraction grating 18 may be formed and / or controlled by the control device 20 such that a first first-order diffraction maximum of that of the light rays 34 incident on the diffraction grating 18 having the specific wavelength is diffracted toward the light sensor 20.
  • the diffraction grating 18 may be formed and / or controlled by the controller 20 such that light beams 44 having a wavelength different from the specific wavelength of the light beams 30 generated by the light source 10 are diffracted by the diffraction grating 18 diffracted differently than the incident on the diffraction grating 18 light rays 34, which has the specific wavelength.
  • a second first-order diffraction peak 46 of the diffraction pattern may be diffracted toward a light absorber 22.
  • the diffraction pattern 46 is changed so that the second first order diffraction maximum 46 of the diffraction pattern partially, preferably completely, comes to lie on the light absorber 22.
  • the light absorber 22 may be, for example, a specially designed plate, but also a part of a housing which has a low reflectivity.
  • the light absorber 22 may include one or more light absorbing elements.
  • the light beams 44 impinging on the diffraction grating 18 can also be diffracted by the diffraction grating 18 in such a way that the resulting diffraction pattern 46 is arranged such that a diffraction minimum comes to rest on the light sensor 20.
  • stray light from an undesired source 40 for example with a specific, frequently occurring wavelength, impinges on the light sensor 20 with as small a proportion as possible, preferably a negligible proportion.
  • the stray light can be, for example, sunlight, in particular sunlight with a wavelength frequently represented in the solar spectrum.
  • the diffraction grating 18 can not only be used as a color filter, i. can be used as a wavelength filter, but can also be used as a direction-selective filter.
  • the diffraction grating 18 may be formed as a matrix with a plurality of separately controllable sections, wherein the diffraction properties of each of the separately controllable sections can be adjusted separately. Accordingly, a portion of the diffraction grating 18 on which the light beams incident on the light focusing means 16 from the currently scanned solid angle or solid angle range impinge can be set so that a third diffraction peak of the light beams 34 incident on the portion comes to rest on the light sensor 20.
  • All other portions of the diffraction grating 18 incident on corresponding light beams which do not originate from the currently sampled solid angle or solid angle range may be controlled such that a fourth diffraction maximum around the light beams 34 impinging on these portions is at one or more Be diffracted light absorber.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un dispositif de détection de lumière, un dispositif LIDAR et un procédé de commande pour commander un dispositif de détection de lumière et un dispositif LIDAR. Le dispositif de détection de lumière présente: un dispositif de focalisation de lumière (16) pour injecter des faisceaux lumineux (32) dans le dispositif de détection de lumière; un réseau de diffraction micromécanique (18), le dispositif de focalisation de lumière (16) et le réseau de diffraction micromécanique (18) étant conçus et disposés l'un par rapport à l'autre de manière que les faisceaux lumineux (33, 44) injectés au moyen du dispositif de focalisation de lumière (16) puissent être focalisés au moins en partie sur le réseau de diffraction (18), ce dernier (18) étant en outre conçu de manière les faisceaux lumineux (34, 44) incidents sur le réseau de diffraction (18) puissent, en fonction de propriétés de diffraction ajustables du réseau de diffraction (18), être diffractés au moins en partie en direction d'un capteur de lumière (20) qui est conçu pour mesurer les faisceaux lumineux (36) incidents sur le capteur de lumière (20); et un dispositif de commande (22) qui est conçu pour ajuster les propriétés de diffraction du réseau de diffraction (18).
PCT/EP2014/066836 2013-08-08 2014-08-05 Dispositif de détection de lumière et procédé de commande WO2015018836A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013215627.8A DE102013215627A1 (de) 2013-08-08 2013-08-08 Lichtdetektionsvorrichtung und Steuerverfahren
DE102013215627.8 2013-08-08

Publications (1)

Publication Number Publication Date
WO2015018836A1 true WO2015018836A1 (fr) 2015-02-12

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PCT/EP2014/066836 WO2015018836A1 (fr) 2013-08-08 2014-08-05 Dispositif de détection de lumière et procédé de commande

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WO (1) WO2015018836A1 (fr)

Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN110249239A (zh) * 2017-01-25 2019-09-17 罗伯特·博世有限公司 光学组件和具有这种光学组件的激光雷达设备
US10527727B2 (en) 2015-09-28 2020-01-07 Baraja Pty Ltd. Spatial profiling system and method
US11162789B2 (en) 2016-12-16 2021-11-02 Baraja Pty Ltd Estimation of spatial profile of environment
US11422238B2 (en) 2016-11-16 2022-08-23 Baraja Pty Ltd. Optical beam director
US11609337B2 (en) 2017-08-25 2023-03-21 Baraja Pty Ltd Estimation of spatial profile of environment
US11740361B2 (en) 2017-09-06 2023-08-29 Baraja Pty Ltd Optical beam director

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JP6522383B2 (ja) * 2015-03-23 2019-05-29 三菱重工業株式会社 レーザレーダ装置及び走行体
US10197676B2 (en) * 2015-04-28 2019-02-05 Qualcomm Incorporated Solid-state electronic light detection and ranging (LIDAR)
DE102016122334A1 (de) * 2016-11-21 2018-05-24 Pepperl + Fuchs Gmbh Optische Messvorrichtung zum Überwachen und Erfassen von Objekten in einem Überwachungsbereich
DE102017205504A1 (de) 2017-03-31 2018-10-04 Robert Bosch Gmbh Optisches Scansystem
DE102017116492B4 (de) 2017-07-21 2020-06-04 Sick Ag Verfahren zur Herstellung eines optoelektronischen Sensors

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EP0448111A2 (fr) 1990-03-23 1991-09-25 Perceptron, Inc. Système lidar de balayage
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Cited By (11)

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Publication number Priority date Publication date Assignee Title
US10527727B2 (en) 2015-09-28 2020-01-07 Baraja Pty Ltd. Spatial profiling system and method
US11391841B2 (en) 2015-09-28 2022-07-19 Baraja Pty Ltd. Spatial profiling system and method
US11567208B2 (en) 2015-09-28 2023-01-31 Baraja Pty Ltd. Spatial profiling system and method
US11422238B2 (en) 2016-11-16 2022-08-23 Baraja Pty Ltd. Optical beam director
US11162789B2 (en) 2016-12-16 2021-11-02 Baraja Pty Ltd Estimation of spatial profile of environment
US11397082B2 (en) 2016-12-16 2022-07-26 Baraja Pty Ltd Estimation of spatial profile of environment
US11561093B2 (en) 2016-12-16 2023-01-24 Baraja Pty Ltd Estimation of spatial profile of environment
CN110249239A (zh) * 2017-01-25 2019-09-17 罗伯特·博世有限公司 光学组件和具有这种光学组件的激光雷达设备
US10914839B2 (en) * 2017-01-25 2021-02-09 Robert Bosch Gmbh Optical assembly and a lidar device having an optical assembly of this type
US11609337B2 (en) 2017-08-25 2023-03-21 Baraja Pty Ltd Estimation of spatial profile of environment
US11740361B2 (en) 2017-09-06 2023-08-29 Baraja Pty Ltd Optical beam director

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