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
  • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
• • 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
• • 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

Definitions

• the present invention relates to an optical arrangement for a LiDAR system, a LiDAR system and a working device.
• the present invention relates in particular to an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a
• the present invention relates to a LiDAR system for optically detecting a field of view as such and in particular for a working device, a vehicle or the like. Furthermore, the present invention provides a vehicle having such a LiDAR system.
• Sensor arrays used to detect the operating environment.
• LiDAR system English: LiDAR: light detection and ranging.
• Input aperture of the LiDAR system conventionally can only be achieved with a corresponding size to form the optical arrangement with the receiving optics. Furthermore, the conventional lead
• independent claim 1 has the advantage that despite large receiver side aperture results in a flexible arrangability of the optical arrangement with reduced height or width. This will
• an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a working device, a vehicle or the like, is provided with a detector assembly and a receiver optics, in which the receiver optics ( i) for optical
• Illustration of the field of view is formed on the detector assembly and (ii) thereto has a fiber optic or optical fiber optics with one or a plurality of fiber optic elements or optical fiber elements for optical connection to the detector array.
• Detector arrangement is due to the mechanical flexibility of
• the receiving optical system can in particular be set up to produce an image of the field of view or of a part thereof on an intermediate level.
• this intermediate level can then be the entrance or beginning of the fiber optic, which is designed to direct the light to the detector array.
• the optical arrangement comprises a lens.
• the fiber optic is connected downstream of the lens
• a particularly compact design can be according to another
• respective fiber-optic elements can taper from the light input side to the light output side.
• the total light power incident on the light input side can be imaged in a flexible manner with a large input aperture onto a reduced surface in order to be able to further reduce the overall height of the detector arrangement.
• the receiver optics is segmented with a - in particular odd - formed plurality of optical imaging segments.
• the optically imaging segments of the receiver optics can in particular be arranged next to one another. Due to the segmented design of the receiver optics with a plurality of optically imaging segments and the applicability of the segments of the receiver optics side by side, depending on the structural conditions of the application, the plurality of optically imaging segments of the receiver optics are arranged distributed in a suitable manner, so that the available space through Distribution can be effectively used.
• the optically imaging segments of the receiver optics are or are arranged in a direction perpendicular to a receiving direction of the receiver optics,
• vertical and horizontal refer to the geometry or reference system of the particular application, and in particular to the orientation of a gravitational field, e.g. that of the earth.
• the effect of the optical arrangement of a LiDAR system unfolds precisely in cooperation of the receiver optics with the detector arrangement in that the receiver optics are designed for optical imaging of the field of view on the detector arrangement.
• Receiver optics for optical imaging of an associated segment of the field of view is formed on the detector array.
• a particularly accurate detection of the field of view to be scanned is obtained if, according to another development of the optical arrangement of the invention, the totality of all - the optically imaging segments of the receiver optics associated - segments of the field of view cover the field of view as a whole.
• associated segments of the field of view no overlap or overlap of less than 10%, preferably less than 5%, more preferably less than 2% of the respective swept solid angle with each other.
• a particularly compact optical arrangement can be achieved in that segments assigned to the optically imaging segments of the receiver optics are directly adjacent to one another or, in particular, in adjoining fashion.
• the optically imaging segments of the receiver optics associated segments of the field of view are arranged spatially spaced or spatially.
• a spatially distributed design can be achieved, which can be adapted to the respective applications.
• another aspect of the present invention is the concept of segmentation and rearrangement of the receiver optics.
• the concept of segmentation can alternatively or additionally be transferred to the design of the detector arrangement.
• the detector arrangement is or is formed segmented with a plurality of detector segments and that
• Arrangement is formed with a segmented formed with a plurality of optical segments transmitter optics for illuminating the field of view with light, in particular with a split beam path, in which a 1 -to-1 - correspondence between the optical imaging segments of the receiver optics and the optical segments of the transmitter optics and / or the optical segments of the transmitter optics have a spatial arrangement corresponding to the spatial arrangement of the optically imaging segments of the receiver optics.
• an optical segment of the transmitter optics and an optically imaging segment of the receiver optics are spatially spaced apart in a direction perpendicular to a transmission and / or reception direction of the transmitter optics or the receiver optics and / or in a direction perpendicular to a direction of a beam path of
• the present invention further relates to a LiDAR system for optically detecting a field of view, in particular for a working device, a vehicle or the like.
• the LiDAR system according to the invention is formed with an optical arrangement according to the present invention.
• an operating device formed with a LiDAR system according to the present invention for optically detecting a field of view.
• the working device according to the invention may in particular be a working machine, a vehicle, a robot or another general production or operating system.
• FIG. 1 shows the manner of a schematic block diagram
• FIGS. 2 to 4 show a schematic side view of embodiments of the optical arrangement according to the invention for a LiDAR
• Embodiments of a LiDAR system according to the invention using embodiments of the optical arrangement according to the invention with different structural configurations. Preferred embodiments of the invention
• Figure 1 shows in the form of a schematic block diagram a
• the LiDAR system 1 has a transmitter optics 60, which are emitted by a light source 65, e.g. in the form of a laser, and emits primary light 70 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for the investigation of an object 52 located there.
• a light source 65 e.g. in the form of a laser
• the LiDAR system 1 has receiver optics 30 which receive secondary light 80 reflected by the object 52 in the field of view 50 as a primary optic via an objective 34 and-optionally via a secondary optics 35 -transmitted to a detector arrangement 20.
• control and evaluation unit 40th The control of the light source 65 and the detector assembly 20 via control lines 42 and 41 by means of a control and evaluation unit 40th
• FIG. 1 schematically illustrates the concept of segmentation of the optical components of the LiDAR system 1 in three respects, but this is not mandatory, as is the overall segmentation.
• the core of the invention is the increase in flexibility over the use of a fiber or optical fiber optics in the field of receiver optics.
• the receiver optics 30 are connected downstream of the objective 34 with a fiber optic 36 having a light input side 36-1 and a light output side 36-2.
• the fiber optic 36 consists of a fiber optic element 37 or optical fiber or a plurality thereof.
• the fiber optic 36 with the fiber optic elements 37 forms a secondary optics 35 connected downstream of the objective 34 as a primary optic and serves to suitably form the image of the field of view 50 produced by the objective 34
• Embodiment of the optical arrangement 10 according to the invention a plurality of optically imaging segments 31 in the region of the objective 34 or as parts of the objective 34, for example in the form of a plurality of geometrically designed parallel operating objective lenses.
• Each optically Imaging segment 31 is associated with a corresponding solid angle area in front of the lens 34, which forms a segment 51 of the field of view 50 of the LiDAR system 1.
• the assignment is made by aligning the optically imaging segments 31 with respect to each other and with respect to the desired field of view field 50 and its segments 51.
• a respective optically imaging segment 31 of the receiver optics 30 forms a segment 51 of the field of view 50 by receiving the secondary light 80 onto the detector arrangement 50.
• the segments 51 completely cover the field of view 50, i. the entire field of view 50 is detected in the form of the visual field segments 51 depicted.
• a further aspect of the segmentation can be found in the embodiment according to FIG. 1 in the case of the inventive LiDAR system 1 in the region of the deflection optics 62 of the transmitter optics 60, by the provision of a plurality of optical segments 61. to act a plurality of mutually independently controllable mirror elements 62, which act on each other different solid angle ranges of the LiDAR system with primary light 70 and, if necessary, scan.
• a third aspect of the segmentation in the embodiment of the LiDAR system 1 according to FIG. 1 is realized in the region of the detector arrangement 20 by the provision of a plurality of detector segments 21.
• FIGS. 2 to 3 show a schematic side view of embodiments of the optical arrangement 10 according to the invention for a LiDAR system 1 with different configurations of the fiber optics 36 used in the receiver optics 30.
• a field of view 50 of the LiDAR system 1 which is imaged with its segments 51 by the receiver optics 30 with lens 34 and secondary optics 35 in the form of a fiber optic 36, which may also be referred to as optical fiber optics, to the detector assembly 20.
• the optical coupling of the incident secondary light 80 from the objective 34 via the secondary optics 35 to the detector arrangement 20 takes place with an unchanged aperture, ie with a constant
• the fiber optics 36 or optical fiber optics with light input side 36-1 and light output side 36-2 formed as secondary optics 35 may consist of a single fiber optic element 37, ie a single optical fiber or of a bundle of such, in particular identical, fiber optic elements 37 or
• Fiber optic cables are formed.
• the fiber-optic element 37 or the plurality of fiber-optic elements 37 has a different shape from that of FIG.
• an additional taper optic 38 is formed in two-part secondary optics 35 which optically reduces the light input side enlarged cross section of the objective 34 to a reduced cross section and the secondary light from the field of view 50 in the light input side 36-1 of the fiber optics 36 couples.
• the Taperoptik 38 may be formed as a frustoconical fiber optic element.
• Segmentation of the transmitter optics 60 in a plurality of optical segments 61 of the transmitter optics 60 is adapted to irradiate primary light 70 in the field of view 50 of the LiDAR system 1.
• the optically imaging segments 31 of the receiver optics 30 are again formed, with the interposition of the fiber optics 36 and optionally a Taperoptik 38 from the associated
• the present invention is based on LiDAR systems in which a barrel-shaped, cuboidal or cylindrical arrangement, in particular in the region of the respective lenses is used.
• a barrel-shaped, cuboidal or cylindrical arrangement in particular in the region of the respective lenses is used.
• it is advantageous to form a large receiving aperture in the LiDAR system. This leads to a large design with a round lens.
• LiDAR systems 1 and, in particular, LiDAR sensors in a flat, elongated design are desired, so that e.g. fit between the ribs of a vehicle radiator grille.
• optical waveguide components 36, 37 are used in a LiDAR system 1, in order thereby to provide a flexible and / or any desired geometric beam guidance or
• the taper optics 38 used are also segmented interpretable.
• Flexible design element 45 independent of cross-section, surface can take on any shapes, e.g. to be combined with OEM logo.
• Receiver regions realized as optically imaging segments 31 by Taperoptik 38, each viewing a segment 51 of the field of view 50.
• Light pipe in the transmission path 60 and receive path 30 can be realized.
• Another embodiment uses segmented taper optics 38.
• the flexible design allows the individual elements to be well integrated as a distributed system, for example in a vehicle, as shown in FIG.
• Transmitter segments 61 and receiver segments 31 could also be integrated into the segments of an OEM logo.
• FIG. 6 shows an exemplary embodiment for a distributed system with transmitter 61 and receiver 31.

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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)

Priority Applications (2)

Applications Claiming Priority (2)

Publications (1)

Family

ID=59101452

Family Applications (1)

Country Status (4)

Cited By (3)

Citations (3)

Family Cites Families (11)

• 2016
  • 2016-07-21 DE DE102016213344.6A patent/DE102016213344A1/de active Pending
• 2017
  • 2017-06-19 EP EP17732069.4A patent/EP3488263A1/de active Pending
  • 2017-06-19 WO PCT/EP2017/064871 patent/WO2018015082A1/de unknown
  • 2017-06-19 CN CN201780045141.7A patent/CN109477897A/zh active Pending

Patent Citations (3)

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