Classifications

• • 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
  • G02B26/103—Scanning systems having movable or deformable optical fibres, light guides or waveguides as scanning elements
• • 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
• • 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

Definitions

• TECHNICAL FIELD Various embodiments generally relate to a fiber-based scanner for laser light. In particular, various embodiments relate to movement of the fiber in accordance with a first degree of freedom and a second degree of freedom of movement.
• the distance measurement of objects is desirable in various fields of technology. For example, in the context of autonomous driving applications, it may be desirable to detect objects around vehicles and, in particular, to determine a distance to the objects.
• LIDAR light detection and ranging
• LADAR LADAR
• LIDAR systems have the disadvantage that they can be comparatively expensive, heavy, maintenance-intensive and / or large.
• LIDAR systems use a scanning mirror that can be placed in different positions. An accuracy with which the position of the scanning mirror can be determined thereby typically limits the accuracy of the spatial resolution of the LIDAR measurement.
• the scanning mirror is often large and the adjustment mechanism can be maintenance-intensive and / or expensive. From Leach, Jeffrey H., Stephen R. Chinn, and Lew Goldberg. "Monostatic all-fiber scanning LADAR system.” Applied optics 54.33 (2015): 9752-9757 discloses techniques for using a tunable curvature of an optical fiber to perform a scanned LIDAR measurement perform.
• a device comprises a moveable fiber.
• the movable fiber has a first degree of freedom of movement and a second degree of freedom of movement.
• the fiber is set up to direct laser light.
• the device also includes at least one actuator.
• the at least one actuator is configured to effect a first movement of the fiber corresponding to the first degree of freedom during a period of time.
• the at least one actuator is arranged to effect, during the period of time, a second movement of the fiber superimposed on the first movement in accordance with the second degree of freedom.
• the device comprises a LIDAR system, which is set up to perform a distance measurement of objects in the vicinity of the device with several pixels based on the laser light.
• the pixels are arranged in a two-dimensional image area.
• the image area is defined by the first movement and the second movement during the time period.
• the first movement has a variable amplitude during the time period.
• a method in another example, includes causing a first movement of a fiber corresponding to a first degree of freedom of movement of the fiber.
• the method also includes effecting a second movement of the fiber in accordance with a second degree of freedom of movement of the fiber.
• the effecting of the first movement and the effecting of the second movement takes place during a period of time, so that the first movement and the second movement are superimposed.
• the fiber directs laser light.
• the method also includes performing a distance measurement of surrounding objects based on the laser light and with multiple pixels. The pixels are arranged in a two-dimensional image area which is defined by the first movement and the second movement during the Duration is defined.
• the first movement has a variable amplitude during the time period.
• FIG. 1A schematically illustrates a device configured to perform a scanned distance measurement of objects around the device according to various embodiments, the device having a laser light emitter, a laser light detector, and a LIDAR system.
• FIG. 1B schematically illustrates the device of FIG. 1A in more detail, the apparatus including a scanning device configured to scan the laser light.
• FIG. 2 schematically illustrates a scanning device having a fiber with a moveable end according to various embodiments.
• FIG. 3A schematically illustrates a scanning device having a fiber with a movable end according to various embodiments, wherein FIG. 3A illustrates a curvature of the fiber.
• FIG. 3B schematically illustrates a scanning device having a fiber with a movable end according to various embodiments
• FIG. Figure 3B illustrates a twist of the fiber.
• FIG. 4A schematically illustrates a scanning device having a fiber with a movable end according to various embodiments.
• FIG. 4B schematically illustrates a scanning device having a fiber with a movable end according to various embodiments.
• FIG. 4C schematically illustrates a scanning device having a fiber with a movable end according to various embodiments.
• FIG. 4D schematically illustrates a scanning device having a fiber with a movable end according to various embodiments.
• FIG. Figure 5 schematically illustrates the overlay figure of the fiber obtained by a first movement corresponding to a first degree of freedom and a second movement of the fiber superposed with the first movement corresponding to a second degree of freedom, the overlay figure having no node.
• FIG. FIG. 6 schematically illustrates the amplitude of the first movement and the second movement for the example of FIG. 5 according to various embodiments.
• FIG. FIG. 7 schematically illustrates the amplitude of the first movement and the second movement for the example of FIG. 5 according to various embodiments.
• FIG. 8 schematically illustrates a first resonance curve having a first resonance maximum for the first movement and further schematically illustrating a second resonance curve having a second resonance maximum for the second movement, wherein the first resonance curve and the second resonance curve have an overlap region according to various embodiments.
• FIG. 9 schematically illustrates a balance weight attached to the fiber according to various embodiments.
• FIG. 10 schematically illustrates the deflection of the fiber for a first-order transverse mode and for a second-order transverse mode according to various embodiments.
• FIG. FIG. 1 schematically illustrates the overlay figure of the fiber obtained by a first movement corresponding to a first degree of freedom and a second movement of the fiber superposed with the first movement corresponding to a second degree of freedom, the overlay figure having a node.
• FIG. 12 schematically illustrates a stop that limits the deflection of the fiber according to various embodiments.
• FIG. 13 is a flowchart according to various embodiments. DETAILED DESCRIPTION OF EMBODIMENTS
• Scanning may refer to repeated emission of the light at different angles of radiation.
• the scanning may indicate the repeated scanning of different points in the environment by means of the light.
• the amount of different points in the environment and / or the amount of different radiation angles may define an image area.
• the scanning of light may be accomplished by temporally superimposing two motions corresponding to different degrees of freedom of a moveable element.
• a superposition figure can be traversed in various examples.
• the overlay figure is also referred to as a Lissajous figure.
• the overlay figure can describe a sequence with which different emission angles are implemented.
• coherent or incoherent laser light can be used.
• polarized or unpolarized laser light For example, it would be possible for the laser light to be pulsed. For example, short laser pulses with pulse widths in the range of femtoseconds or picoseconds or nanoseconds can be used.
• a pulse duration can be in the range of 0.5-3 nanoseconds.
• the laser light may have a wavelength in the range of 700-1800 nm.
• broadband light sources for example broadband light sources or RGB light sources.
• RGB light sources herein generally refer to light sources in the visible spectrum, the color space being covered by superimposing several different colors, such as red, green, blue or cyan, magenta, yellow, black.
• a movable end of a fibrous element ie a fiber
• a fiber is used to scan the laser light.
• optical fibers may be used, which are also referred to as glass fibers.
• the fibers are made of glass.
• the fibers may be made of plastic, glass, silicon or other material, for example.
• the fibers may be made of quartz glass.
• the fibers may be released from a wafer, eg, a silicon wafer or an SOI (silicon on insulator) wafer, using an etch technology, for example, the fibers may be 70 GPa
• the fibers may have up to 4% material elongation
• the fibers have a core in which the injected laser light is propagated and trapped at the edges by total reflection (fiber optic), but the fiber need not have a core
• so-called single mode fibers or multimode fibers may be used
• the various fibers described herein may, for example, have a circular cross-section the various fibers described herein have a diameter which is not smaller than 50 ⁇ m, is optionally not ⁇ 150 ⁇ m, further optional is not ⁇ 500 ⁇ m, further optional is not ⁇ 1 mm.
• the various fibers described herein may be made bendable, ie, flexible.
• the material of the fibers described herein may have some elasticity.
• the movable end of the fiber could be moved in one or two dimensions.
• the movable end of the fiber is twisted along the fiber axis (torsion). This may correspond to a second degree of freedom of movement.
• By moving the movable end of the fiber can be achieved that laser light is emitted at different angles. This allows an environment to be scanned with the laser light. Depending on the strength of the movement of the movable end, image areas of different sizes can be implemented.
• the fiber is used as a support for a diverter unit.
• the deflection unit can be attached to the movable end of the fiber rigid or stationary.
• the laser light can arrive on a different optical path to the deflection, as by the fiber.
• the fiber does not necessarily serve as an optical waveguide for the laser light on the way to the deflection unit. If the laser light does not pass through the fiber to the deflection unit, a complicated and expensive coupling of the laser light into the fiber can be avoided.
• laser light may be used which, for example, not only has the local TEMOO mode but alternatively or additionally other modes. This may allow the use of a particularly small laser, such as a laser diode.
• the deflection unit can be implemented as a prism or mirror.
• the mirror could be implemented by a wafer, such as a silicon wafer, or a glass substrate.
• the seal could have a thickness in the range of 0.05 ⁇ - 0.1 mm.
• the mirror could have a thickness of 25 ⁇ or 50 ⁇ .
• the mirror could have a thickness in the range of 25 ⁇ to 75 ⁇ .
• the mirror could be square, rectangular or circular.
• the mirror could have a diameter of 3 mm to 6 mm.
• LIDAR techniques can be used.
• the LIDAR techniques can be used to perform a spatially resolved distance measurement of objects in the environment.
• the LIDAR technique may include transit time measurements of the laser light between the moveable end of the fiber, the object, and a detector.
• LIDAR techniques Although various examples are described in terms of LIDAR techniques, the present application is not limited to LIDAR techniques.
• the aspects described herein with respect to the scanning of the laser light by means of the movable end of the fiber can also be used for other applications. Examples include, for example, projecting image data in a projector - e.g. an RGB light source can be used.
• Various examples are based on the finding that it may be desirable to carry out the scanning of the laser light with a high accuracy with respect to the emission angle.
• spatial resolution of the distance measurement may be limited by inaccuracy of the emission angle.
• a higher (lower) spatial resolution is achieved the more accurate (less accurate) the radiation angle of the laser light can be determined.
• the overlay figure may be chosen to provide an image area for the two-dimensional LIDAR images that can be scanned uniformly with pixels.
• the amplitude of a first movement which corresponds to a first of the two degrees of freedom is changed (English, ramped); the change occurs over a period corresponding to the scanning of the image area.
• the amplitude can be monotonically increased or monotonically reduced.
• the change can be continuous or stepwise.
• the change in the amplitude of the first movement can be repeatedly performed.
• the second degree of freedom of the movement can be driven resonantly.
• the overlay figure can be flexibly adjusted.
• the center of a resonant second motion may be staggered in accordance with the second degree of freedom of motion by a non-resonant first motion.
• a non-resonant, stepwise rotation of the fiber could be superimposed as a first motion with a resonant torsional mode of the fiber as a second motion.
• the amplitude of the second movement which corresponds to the second of the two degrees of freedom, can also be changed.
• the amplitude of the second movement may also remain constant or comparatively little changed compared to the change of the first amplitude, for example less than 20%, optionally less than 5%, further optionally less than 1%.
• FIG. 1A illustrates aspects related to a scanned distance measurement of objects 195, 196.
• FIG. 1A Aspects related to a distance measurement based on the LIDAR technique.
• an apparatus 100 that includes an emitter 101 for laser light 191, 192.
• the emitter 101 could be a laser light source and / or an end of an optical fiber that emits laser light.
• the laser light is emitted, for example pulsed (primary radiation).
• the primary laser light 191, 192 could be polarized. It would also be possible that the primary laser light 191, 192 is not polarized.
• the transit time of a laser light pulse between the emitter 101, an object 195, 196 and a detector 102 may be used to determine a distance between the device 100 and the objects 195, 196.
• secondary radiation 191 B, 192 B reflected by the objects 195, 196 is measured.
• the detector 102 for example, a photodiode coupled to a wavelength filter that selectively operates Light with the wavelengths of the laser light 191, 192 happen. As a result, the secondary laser light 191 B, 192 B reflected by the objects 195, 196 can be detected.
• the emitter 101 and the detector 102 are implemented as separate components; However, it would also be possible that the secondary laser light 191 B, 192 B is detected via the same optics that is also implemented the emitter 101.
• the detector 102 may be e.g. include an avalanche photodiode.
• the detector 102 may comprise a single photon avalanche diode (SPAD).
• the detector may comprise a SPAD array comprising not less than 500, optionally not less than 1000, further optionally not less than 10000 SPADs.
• the detector 102 may be e.g. be operated by photon correlation.
• the detector 102 may be e.g. be set up to detect individual photons.
• a LIDAR system 103 is provided that is coupled to the emitter 101 and the detector 102.
• the LIDAR system may be configured to achieve time synchronization between the emitter 101 and the detector 102.
• the LIDAR system 103 may be configured to perform the distance measurement of the objects 195, 196 based on measurement signals obtained from the detector 102.
• the emitter 101 is set up to emit the laser light 191, 192 at different angles 110 (emission angle). Depending on the set angle 110, the laser light 191, 192 is thereby reflected either by the object 196 or by the object 195.
• the LIDAR system 103 receives information about the respective angle 1 10, the spatial resolution can be provided.
• the image area within which the angles 110 can be varied is illustrated by a dotted line. Different emission angles can correspond to different pixels of a LIDAR image.
• FIG. 1B illustrates aspects relating to the device 100.
• FIG. 1B illustrates device 100 in more detail than FIG. 1A.
• the emitter 101 is implemented by a laser light source 599 and a scanning device 500.
• the laser light source 599 could be a fiber laser or a laser diode.
• the laser light source 599 could excite multiple spatial modes.
• the laser light source 599 could have a frequency width of 5 - 15 nm.
• the apparatus 100 also includes an actuator 900 configured to operate the scanning device 500.
• the scanning device 500 is configured to deflect the laser light 191, 192, which is emitted by the laser light source 599, so that it is emitted at different angles 110.
• the scanning device 500 may enable two-dimensional scanning of the environment.
• the actuator 900 is typically electrically operable.
• the actuator 900 could include magnetic components and / or piezoelectric components.
• the actuator could include a rotational magnetic field source configured to generate a magnetic field rotating as a function of time.
• the actuator may e.g. causing a stepwise torsion of the fiber through a DC component of the magnetic field and a resonant torsion of the fiber through an AC component of the magnetic field at a frequency tuned to the resonant frequency.
• a controller 950 for example an electrical circuit, a microcontroller, an FPGA, an ASIC, and / or a processor, etc.-is provided, which is configured to send control signals to the actuator 900.
• the controller 950 is in particular designed to control the actuator 900 in such a way that this scanning device operates to scan a specific angle range 110.
• a positioning device 560 is provided.
• the positioning device 560 is optional.
• the positioning device 560 is configured to output a signal indicative of the emission angle with which the laser light 191, 192 is emitted.
• the positioning device 560 could also directly measure the primary laser light 191, 192.
• the positioning device 560 may generally measure the emission angle optically, eg based on the primary laser light 191, 192 and / or light of a light emitting diode.
• the positioning device 560 in a simple implementation, could also receive control signals from the controller 950 and determine the signal based on the control signals.
• the LIDAR system 103 may use the signal provided by the positioning device 560 for scanned distance measurement of the objects.
• the LIDAR system 103 is also coupled to the detector 102. Based on the signal of Positioning device 560 and based on the detected by the detector 102 secondary laser light 191 B, 192 B, the LIDAR system 103 then make the distance measurement of the objects 195, 196 in the vicinity of the device 100.
• the LIDAR system 103 may implement the spatial resolution of the distance measurement based on the signal from the positioning device 560.
• LIDAR system 103 may output multiple LIDAR images.
• LIDAR images can be output at a specific refresh rate.
• each LIDAR image may include a certain number of pixels.
• each LIDAR image can image a specific image area in the vicinity of the device 100.
• the positioning device 560 it would also be possible for the positioning device 560 to be connected to the controller 950 of the actuator 900 (not shown in FIG. 1B). Then, a control loop could be implemented wherein the scanning device 500 is controlled based on the signal from the positioning device 560.
• the control loop could be implemented analog and / or digital. This means that the controller 950 can control the actuator 900 based on the signal of the positioning device 560. Then, a reproducible scanning of the environment can be made possible. For example, For example, measurement points of the LIDAR measurement can be acquired repeatedly at the same emission angles. This can allow a particularly simple evaluation.
• FIG. 2 illustrates aspects relating to the device 100.
• FIG. 3 Aspects related to the scanning device 500.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500. That is, the fiber 201 may be configured to deflect laser light.
• the fiber 201 extends along a central axis 202.
• the fiber 202 includes a movable end 205 having an end surface 209.
• the device 100 also includes a fixation 250.
• the fixation 250 could be made of plastic or metal.
• the fixation 250 could be part of a housing that receives the movable end 250 of the fiber 201.
• the housing could e.g. a DPAK or DPAK2 housing.
• the fixation 250 fixes the fiber 201 at a fixation site 206.
• the fixation 250 could be the fiber 201 at the fixation site 206 implemented by a clamp connection and / or a solder joint and / or an adhesive bond.
• the fiber 201 is therefore stationary or rigidly coupled to the fixing 250.
• a length 203 of the fiber 201 between the fixing point 206 and the movable end 205 is further shown. From FIG. 2 it can be seen that the movable end 205 is spaced from the fixing point 206.
• the length 203 could be in the range of 0.5 cm - 10 cm, optionally in the range of 1 cm - 5 cm, further optionally in the range of 1, 5 - 2.5 cm.
• the movable end 205 is thus free in space. By this distance of the movable end 205 relative to the fixing point 206 can be achieved that the position of the movable end 205 of the fiber 201 relative to the fixing point 206 can be changed. In this case, it is possible, for example, to bend and / or twist the fiber 201 in the area between the fixing point 206 and the movable end 205. In FIG. 2, a rest state of the fiber 201 without movement or deflection is shown.
• FIG. 3A illustrates aspects related to the device 100.
• FIG. 3A aspects related to the scanning device 500.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• the example of FIG. 3A corresponds to the example of FIG. 2.
• FIG. 3A shows a dynamic state of the scanning device 500.
• the end 205 of the fiber 201 is shown in a position 301 and a position 302 (dashed line in FIG. 3A).
• These positions 301, 302 implement extreme positions of the fiber 201: e.g.
• a stop could be provided which prevents further movement of the end 205 beyond the positions 301, 302 (not shown in FIG. 3A).
• the fiber 201 may reciprocate between positions 301, 302, e.g. periodically.
• the position 302 corresponds to a bend 321.
• the bends 31 1, 321 have opposite signs.
• the actuator 900 may be provided (the actuator 900 is not shown in FIG. 3A).
• the movement of the fiber between the positions 301, 302 corresponds to a transverse mode of the fiber 201.
• a one-dimensional motion in the plane of the drawing of FIG. 3A
• a two-dimensional motion with a component perpendicular to the drawing plane of FIG.
• a heterodyne figure can be implemented by exciting the orthogonal degrees of freedom of the motion in accordance with perpendicularly oriented transverse modes.
• the laser light 191, 192 is emitted over the bending angle range 1 10-1. This makes it possible to scan the surrounding area of the device 100 by means of the laser light 191, 192.
• the laser light 191, 192 does not have to pass through the fiber 201: the primary laser light 191, 192 (not shown in FIG. 3A) can also reach the movable end 205 on another optical path.
• an exemplary radius of curvature 312 for the curvature 31 1 is also illustrated.
• an exemplary radius of curvature 322 for the bend 321 is illustrated.
• the radii of curvature 312, 322 are each about 1.5 times as large as the length 203 of the fiber 201 between the fixing point 206 and the movable end 205.
• weaker curvatures 31 1, 321 or larger curvatures 31 1, 321 are implemented. In this case, weaker curvatures 31 1, 321 correspond to larger radii of curvature 312, 322, in particular with respect to the length 203.
• FIG. 3B illustrates aspects relating to the device 100.
• FIG. FIG. 3B illustrates aspects related to the scanning device 500.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• the example of FIG. 3B corresponds to the example of FIG. 2.
• FIG. 3B shows a dynamic state of the scanning device 500.
• the end 205 of the fiber 201 is moved such that the fiber 201 moves between a first torsion 371 and a second twist 372 in the region between the fixing point 206 and the movable end 205. This corresponds to a twist of the fiber 201 along the central axis 202.
• the fiber is excited according to a torsional mode.
• the laser light 191, 192 can be emitted over a corresponding torsion angle range 1 10-2, eg in connection with a deflection unit (in FIG not shown).
• the laser light 191, 192 does not have to pass through the fiber 201: the primary laser light 191, 192 (not shown in FIG. 3A) can also reach the movable end 205 on another optical path.
• a corresponding actuator configured to implement the various torsions 371, 372 may be provided. For example, those shown in FIG.
• FIG. 3B further illustrates the angular range 1-10-2 which may be implemented, for example, in cooperation with a diverter unit (not shown in FIG. 3B) by means of the torsion 371, 372 of the movable end 205 of the fiber 201.
• FIG. 4A illustrates aspects relating to device 100.
• FIG. FIG. 4A illustrates aspects related to the scanning device 500.
• device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• FIG. 4A illustrates in particular the beam path of the primary laser light 191, 192.
• a deflection unit 452 is connected to the movable end 205 of the fiber 201. Movement of the fiber 201 thereby causes movement of the diverter unit 452.
• the deflection unit 452 can be tilted by a curvature 31 1, 321 of the fiber 201 and / or rotated by a torsion 371, 372 of the fiber 201.
• the deflection unit 452 can be implemented, for example, by a prism and / or a mirror.
• the lateral dimension of the diverter unit 452 (left-right in FIGURE 4A, i.e.
• the deflection unit 452 could have a diameter of more than 4 mm, optionally about 5 mm.
• a beam diameter of the primary laser light 191, 192 in the region of the deflection unit 451 it would be possible for a beam diameter of the primary laser light 191, 192 in the region of the deflection unit 451 to be approximately 1.5 times as large as a diameter of the deflection unit 451, optionally more than 2.5 times as large large, further optional more than 5 times as large.
• the primary laser light 191, 192 can illuminate substantially the entire deflection unit 451 and not just a small point on the deflection unit 451.
• primary laser light 191, 192 is irradiated on the deflection unit 452.
• the laser light 191, 192 does not pass through the fiber 201. This avoids complicated and lossy coupling of the laser light 191, 192 into an optical fiber of the fiber 201 (if present, not shown in FIG. A particularly simple and inexpensive construction is possible.
• the deflection unit deflects the primary laser light 191, 192 by a deflection angle 452A.
• the deflection angle 452A could be approximately 90 °, or in the range between 45-135 °, optionally in the range between 25 ° -155 °, further optionally in the range 5 ° -175 °.
• the diverter unit 452 is connected to the fixture 250 only via the fiber 201 - i. a 1-point coupling of the deflection unit 452 with the fixation 250 is implemented.
• the redirector unit 452 could be e.g. by further fibers (not shown in FIG. 4B) or by a guide etc. with the fixation 250.
• FIG. 4B illustrates aspects related to device 100.
• FIG. FIG. 4A illustrates aspects related to the scanning device 500.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• the example of FIG. 4B particularly illustrates the beam path of the secondary laser light 191 B, 192B.
• the secondary laser light 191 B, 192 B is deflected by a deflection angle 452 B, which corresponds to the deflection angle 452A.
• the secondary laser light 191 B, 192 B takes the same optical path as the primary laser light 19 1, 192.
• FIG. 4C illustrates aspects related to device 100.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• the example of FIG. 4C particularly illustrates the beam path of the secondary laser light 191 B, 192B.
• the deflection unit 452 also implements an optical element that feeds secondary laser light 191 B, 192 B into an optical fiber of the fiber 201.
• the redirector unit 452 may implement a circulator. This means that the secondary laser light 191 B, 192 B is deflected at a different deflection angle 452 C than the primary laser light 191, 192.
• the circulator is set up to couple the secondary laser light 191 B, 192 B into an optical fiber of the fiber 201.
• the primary laser light 191, 192 and the secondary laser light 191 B, 192 B may be polarized. This allows easy detection of the primary laser light 191, 192.
• FIG. 4D illustrates aspects relating to device 100.
• FIG. FIG. 4A illustrates aspects related to the scanning device 500.
• the device 100 includes a fiber 201.
• the fiber 201 implements the scanning device 500.
• FIG. 4D illustrates the beam path of the secondary laser light 191 B, 192 B and of the primary laser light 19 1, 192.
• the primary laser light 191, 192 is also passed through an optical fiber of the fiber 201. This allows a very accurate scanning possible.
• the deflection unit 452 can be dimensioned comparatively small.
• FIG. FIG. 5 illustrates aspects related to scanning an environment of the device 100 by moving the fiber 201.
• FIG. 5 shows an overlay figure 700 obtained when superimposing a first movement of the fiber (vertical axis in FIG.5) with a variable amplitude during a period of time with a second movement of the fiber (horizontal axis in FIG.5).
• the overlaying of the movements means that the movements are carried out at least partially in parallel with time during the time period or are excited by the actuator 900.
• a torsion 371, 372 of the fiber 201 - defining the angular range 1 10-2 (horizontal axis in FIG. 5) - is superimposed with a curvature 31 1, 321 of the fiber 201 (vertical axis in FIG.
• the horizontal arrows in FIG. 5 illustrate the direction of scanning the overlay figure 700.
• the amplitude of the curvature 31 1, 321 is gradually increased over the period of time depicted by the overlay figure 700.
• the "eye" of the overlay figure 700 expands to larger angles 1 10-2 (illustrated by the vertical dashed arrows in FIG. 5) .
• the maximum amplitude of the curvature 31 1, 321 corresponds to the angle range 1 10-1
• the amplitude of the torsion 371, 372 of the fiber horizontal axis in Fig.
• the overlay figure 700 has a fixed left-right extent in FIG
• the various branches of the overlay figure 700 correspond to image lines of a LIDAR image defined by an image area 750. Sometimes the Blldbreich 750 is also called a scan area. By repeated readout of the detector 700 pixels 751 can be obtained along the branches of the overlay figure. For successive LIDAR images, the overlay figure 700 is repeatedly converted. The time required to implement the overlay figure 700 therefore corresponds to the frame rate.
• the overlay figure 700 does not have any nodes within the image area 750. This has the advantage that there are no areas of the image area 750 that are scanned multiple times. As a result, an image refresh rate of the LIDAR system 103 can be selected to be particularly large.
• the overlay figure 700 is obtained by superimposing the torsion 371, 372 with the curvature 31 1, 321.
• movements of different degrees of freedom of the fiber 201 could be superposed with each other.
• a first degree of freedom could correspond to a first transverse mode of the fiber 201 and a second degree of freedom could correspond to a second transverse mode of the fiber 201.
• the first and second transverse modes could be different Have polarizations to each other, ie oriented in different spatial direction (for example, in the plane of the drawing and perpendicular to the plane of the FIG 3A). It would also be possible for the first and second transverse modes to have different orders, ie a different number of nodes and bellies.
• the first movement and the second movement could correspond to different-order torsional modes.
• FIG. 6 illustrates aspects relating to the amplitudes 801, 802 of the motions 31 1, 321,
• FIG. 6 shows a time characteristic of the amplitudes 801, 802.
• the time duration 860 is shown, which is for
• the duration 860 may correspond, for example, to the refresh rate of the LIDAR system 103. From FIG. 6, it can be seen that the amplitude 802 of the torsion 371, 372 remains constant during the time period 860. From FIG. 6, it can further be seen that the amplitude 801 of the curvature 31 1, 321 is variable during the time period 860. In the example of FIG. 6, the curvature 31 1, 321 has a monotonically increasing amplitude 801 during the time period 860. In the example of FIG. 6 increases the amplitude 801 stepwise. The amplitude 801 could e.g. also decrease monotonously.
• FIG. 6 also illustrates aspects related to the instantaneous deflection 852 of the torsion 371,
• the actuator 900 is arranged to excite the fiber 201 during the period 860 for the torsion 371, 372, as well as for the curvature 31 1, 321 at the same frequency, so that both the torsion 371, 372, and the curvature 31 1, 321 have the same instantaneous displacement 852 as a function of time. If the different degrees of freedom of the movement that form the overlay figure 700 are excited with the same frequency, then it can be achieved that the overlay figure 700 has no nodes within the image area 750. As a result, a high refresh rate can be achieved for providing the LIDAR images.
• FIG. 7 illustrates aspects relating to the amplitudes 801, 802 of the movements of the fiber 201 according to the example of FIG. 5.
• the example of FIG. 7 basically the example of FIG. 6.
• FIG. Fig. 7 shows the change in the amplitude 801 of the curvature 31 1, 321 linearly as a function of time.
• different time dependencies of changing the amplitudes 801, 802 may be implemented.
• FIG. FIG. 8 illustrates aspects relating to the resonance curves 901, 902 of the motions 31 1, 321, 371, 372 which comprise the overlay figure 700 according to the example of FIG. 5 train.
• FIG. Figure 8 illustrates the amplitude of the respective mode as a function of frequency.
• a resonance curve 901 of the curvature 31 1, 321 of the fiber 201 is shown.
• the resonance curve 901 has a resonance maximum 91 1 (solid line).
• the resonance curve 902 of the torsion 371, 372 of the fiber 201 is also shown (dashed line).
• the resonance curve 902 has a resonance maximum 912.
• the resonance curve in 901, 902 could be Lorentz-shaped. This would be the case, for example, if the corresponding degrees of freedom of movement can be described by a harmonic oscillator.
• the resonance maxima 91 1, 912 are frequency-shifted relative to one another.
• the frequency spacing between the maxima 91 1, 912 could be in the range of 5 kHz to 50 kHz.
• a half width 921 of the resonance curve 901 is also shown.
• FIG. 8 shows a half width 922 of the resonance curve 902.
• the half widths 921, 922 are defined by the attenuation of the corresponding motions 31 1, 321, 371, 372.
• the half widths 921, 922 are equal; however, in general, the half widths 921, 922 may be different from each other.
• a corresponding adhesive could be provided which fixes the fiber at the fixing point 206.
• the resonance curves in 901, 902 in the example of FIG. 8 an overlap area 930 (hatched area).
• both the resonance curve 901 has a significant amplitude and the resonance curve 902.
• the amplitudes of the resonance curve 901, 902 in the overlap area 930 it would be possible for the amplitudes of the resonance curve 901, 902 in the overlap area 930 to be no smaller than 10% of the respective amplitudes at the respective resonance maxima 91 1, 912 are, optionally not smaller than 5%, further optionally not smaller than 1%, respectively. Due to the overlap region, it can be achieved that the two degrees of freedom of the movement can be excited in a coupled manner. As a result, the actuator 900 can be designed to be particularly simple.
• the frequency with which the actuator 900 drives the torsion 371, 372, as well as the curvature 31 1, 321 to be arranged in the overlap area 930 (represented by the waveform 852 in FIG. This makes it possible to resonantly drive both degrees of freedom of the movements and thereby to achieve comparatively large amplitudes of the movement of the fiber 201.
• the resonance curves 901, 902 may also be possible that the resonance curves 901, 902 have no overlap region 930. In this way, a particularly targeted excitation of the individual degrees of freedom of the movement can take place.
• one or more balancing weights may be provided, which are attached to the fiber 201.
• FIG. 9 illustrates aspects relating to a balance weight 961 attached to the fiber 201 in the region between the moveable end 205 and the fixation site 206.
• the balance weight 961 could be implemented by a ferrule.
• the balance weight could have a homogeneous or inhomogeneous mass density as a function of the radius (perpendicular to the central axis 202).
• the balance weight 961 could be made of metal or plastic.
• the balance weight 961 could e.g. be glued to the fiber 201.
• the resonance curve 901 of the curvature 31 1, 321 can be shifted to lower frequencies.
• the overlap area 930 can be generated and excitation of both degrees of freedom of movement at one and the same frequency is possible.
• an overlay figure without nodes can be obtained.
• the balance weight 961 could also have an asymmetric mass distribution with respect to the central axis 202, thereby creating an imbalance. This could compensate for an imbalance of the fiber 201 - which may, for example, have a negative effect on the torsional mode.
• FIG. 10 illustrates aspects relating to balance weight 961.
• FIG. 10 Aspects relating to the attachment of the balance weight 961 to the fiber 201.
• the balance weight 961 is mounted in the vicinity of a node of the second-order transverse mode of the fiber 201 (dashed line in FIG. 10).
• the curvature 31 1, 321 of the fiber 201 could be implemented by the second order transverse mode.
• FIG. FIG. 11 illustrates aspects relating to scanning an environment of the device 100 by moving the fiber 201.
• FIG. 1 a superposition figure 700 obtained when the curvature 31 1, 321 (vertical axis in FIG. 1 1) is superimposed on the torsion 371, 372 (horizontal axis in FIG. 1 1) with a variable amplitude during a period of time 860 becomes.
• the overlaying of the movements 31 1, 321, 371, 372 means that the movements are carried out at least partially parallel to time during the time duration or are excited by the actuator 900.
• the example of FIG. 1 1 basically corresponds to the example of FIG. 5. However, in the example of FIG. 1, the actuator 900 is arranged to excite the curvature 31 1, 321 at twice the frequency as the torsion 371, 372. As a result, the overlay figure 700 has a node 701.
• a frequency three times as large could also be used for the bend 31 1, 321, compared to the twist 371, 372. Then, the overlay figure 700 would have two nodes.
• FIG. 12 illustrates aspects related to a stop 970.
• the stop 970 is configured to limit the torsion 371, 372 of the fiber 201.
• the fiber 201 could, for example, have projections (not shown in FIG. 12) that are correspondingly large in torsion 371, 372 are brought into contact with the stop 970 and thereby suppress further twisting of the fiber 201.
• the torsion 371, 372 has a non-linear force characteristic, for example folded with a step function.
• the overlay figure has particularly sharp edges in relation to the angle range 1 10-2.
• a well-defined image area 750 can be achieved.
• Corresponding techniques with respect to the abutment 970 could, alternatively or in addition to, for example, also be implemented with respect to a degree of freedom of movement corresponding to the curvature 31 1, 321.
• FIG. 13 is a flowchart of an example method.
• a first movement of a fiber is effected according to a first degree of freedom, e.g. a transverse deflection of the fiber or a twist of the fiber.
• a second movement of a fiber is effected according to a second degree of freedom, e.g. a transverse deflection of the fiber or a twist of the fiber.
• 1001 and 1002 can be at least partially time-parallel.
• the torsion of the fiber in 1001 could be gradual and thus non-resonant.
• the torsion of the fiber in 1002 could be resonant.
• the amplitude of the first movement and the second movement, respectively, are changed while effecting the movement.
• an exciting current can be varied by an actuator, e.g. be increased or decreased.
• laser light could be deflected by the fiber.
• primary laser light and optionally secondary laser light could be deflected by the fiber.
• a LIDAR image could be created based on the detected secondary laser light.
• Example 1 comprising:
• a movable fiber (201) having a first degree of freedom of movement (31 1, 321, 371, 372) and a second degree of freedom of movement (31 1, 321, 371, 372) and arranged to move (191, 192 , 191 B, 192B), at least one actuator (900), which is set up for a first movement (31 1, 321, 371, 372) of the fiber (201) according to the first degree of freedom and one with the first movement (31 1, 321, 371, 372) superimposed second movement (31 1, 321, 371, 372) of the fiber (201) to effect according to the second degree of freedom, and
• a LIDAR system (103) arranged to perform, based on the movement (191, 192, 191 B, 192 B), a distance measurement of objects in the vicinity of the device (100) having a plurality of pixels, wherein the pixels are in a two-dimensional Image area defined by the first movement (31 1, 321, 371, 372) and the second movement (31 1, 321, 371, 372) during the period of time,
• the first movement (31 1, 321, 371, 372) has a variable amplitude (801, 802) during the time period.
• Example 2 Apparatus (100) according to Example 1,
• the at least one actuator (900) is arranged to excite the fiber (201) at a first frequency during the time period for the first movement (31 1, 321, 371, 372) and for the second movement (31 1, 321, 371, 372) with a second frequency
• first frequency is equal to the second frequency or wherein the first frequency is equal to an integer multiple of the first frequency.
• Example 3 Apparatus (100) according to Example 1 or 2
• the first degree of freedom has a first resonance curve (901, 902) with a first resonance maximum
• the second degree of freedom has a second resonance curve (901, 902) with a second resonance maximum
• the amplitude of the first resonance curve (901, 902) is not less than 10% of the amplitude at the first resonance maximum
• the amplitude of the first resonance curve second resonance curve (901, 902) is not smaller than 10% of the amplitude at the second resonance maximum, optionally not smaller than 5%, further optionally not smaller than 1%, respectively.
• Example 4 Apparatus (100) according to Examples 2 and 3,
• Example 5 The apparatus (100) of any one of the preceding examples, wherein the first movement (31 1, 321, 371, 372) has a monotone varying amplitude (801, 802) during the time period.
• Example 6 Device (100) according to one of the preceding examples,
• the first movement (31 1, 321, 371, 372) has a non-linear force characteristic, and / or
• Example 7 Device (100) according to one of the preceding examples,
• first degree of freedom corresponds to a first or second order transverse mode (31 1, 321) of the fiber (201),
• Example e. Device (100) according to one of the preceding examples, which further comprises:
• Example 9 Device (100) according to Example 8,
• balance weight (961) is mounted in the region of a node of a transverse mode (31 1, 321) of second or higher order of the fiber (201).
• Example 10 Device (100) according to one of the preceding examples, which further comprises:
• At least one stop (970) which limits the first movement (31 1, 321, 371, 372) and / or the second movement (31 1, 321, 371, 372) of the fiber (201).

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• 2016
  • 2016-08-30 DE DE102016010448.1A patent/DE102016010448B4/de active Active
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