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WO2019020532A1 - Dispositif lidar et procédé doté d'un dispositif de déviation amélioré - Google Patents

Dispositif lidar et procédé doté d'un dispositif de déviation amélioré Download PDF

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Publication number
WO2019020532A1
WO2019020532A1 PCT/EP2018/069823 EP2018069823W WO2019020532A1 WO 2019020532 A1 WO2019020532 A1 WO 2019020532A1 EP 2018069823 W EP2018069823 W EP 2018069823W WO 2019020532 A1 WO2019020532 A1 WO 2019020532A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical waveguide
glass fibers
detector
laser
deflection device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/069823
Other languages
German (de)
English (en)
Inventor
Axel Buettner
Jan MERTENS
Annette Frederiksen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2019020532A1 publication Critical patent/WO2019020532A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—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
    • G01S17/02—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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the invention relates to a LIDAR device for scanning a
  • a distance between the LIDAR device and an object is determined.
  • a beam is generated by a laser and emitted into a scanning region.
  • the beam can be deflected distributed over the scanning area.
  • the reflected beam on an object can then be received by a receiving optical system and directed to a detector.
  • different concepts are pursued. In addition to the so-called
  • Macroscanners may be constructed such that the laser and the detector are statically arranged.
  • the deflection device consists here of a pivotable mirror which deflects the generated beam into the scanning region.
  • the deflection unit also directs the rays reflected by an object onto the detector.
  • no energy and data transmission to the rotating parts is needed.
  • LIDAR device which uses a rotating mirror for deflecting the generated beams. In these concepts, however, is the horizontal
  • the object underlying the invention can be seen to suggest a LIDAR device and a method for scanning as large a scanning as possible with reduced complexity.
  • a LIDAR device for scanning a scan area.
  • the LIDAR device comprises a statically arranged laser for producing at least one steel, a deflection device rotatable along an axis of rotation for deflecting the at least one generated beam into the scanning region and one
  • the deflection device has an optical waveguide with at least two parallel glass fibers, wherein the at least two parallel glass fibers are arranged offset from one another at an exit side of the optical waveguide.
  • the optical waveguide here consists of at least two glass fibers that can guide or deflect the beam generated.
  • the at least two glass fibers can be one
  • the glass fibers may for example consist of a plastic or a glass and alternatively have no sheath.
  • Glass fibers may be uncoated or at least partially coated.
  • An optical waveguide may comprise one or more glass fibers which form a common core or a plurality of separate cores of the optical waveguide.
  • the respective cores or glass fibers can over a length of the Optical waveguide be arranged constant or have a variable arrangement along the length of the optical waveguide.
  • the glass fibers may be arranged side by side at one entrance side and be spaced apart on an exit side of the optical waveguide and form a so-called "bi-furcated fiber” or "multi-furcated fiber".
  • the respective optical fibers of the optical waveguide can carry light in any form loss.
  • the optical waveguide On a side facing the laser, the optical waveguide has an entry side.
  • the generated beam can be coupled into the optical waveguide. Coupling means here that the generated beam transmits as completely as possible into the glass fibers of the optical waveguide.
  • the generated beam is simultaneously in the
  • the at least one beam is divided into at least two partial beams, which can be guided in each case by a glass fiber at least two glass fibers of the optical waveguide.
  • Optical waveguides can be bent, for example, at a 90 ° angle and be positioned in a rotating housing or in the rotatable deflection device.
  • the generated beam split into at least two sub-beams may be directed to one side toward the scanning area.
  • the partial beams leading glass fibers are arranged vertically one above the other, so that the at least two partial beams can vertically decouple from each other from the optical waveguide.
  • the generated beam leaves the glass fibers of the optical waveguide according to the orientation of the glass fibers. In this way, depending on the number of partial beams or glass fibers, a larger vertical range can be scanned or a vertical resolution can be increased.
  • the individual optical waveguide On the exit side of the optical waveguide, the individual
  • the optical waveguide may for example be a so-called “multi-branch-fiber” or a “multi-furcated fiber”. In this way, a multiplicity of glass fibers can be arranged one above the other or offset relative to one another on the exit side of the optical waveguide.
  • the glass fibers can also be arranged horizontally or diagonally next to one another on the outlet side, so that, in addition to a larger vertical scanning region, a horizontal scanning region is faster can be sampled.
  • the optical waveguide can deflect the at least one generated beam along the scanning region.
  • the entrance side of the optical waveguide forms the axis of rotation.
  • the laser generates a beam that passes through the axis of rotation.
  • the structure of the LIDAR device can be simplified and downsized. The generated beam or
  • Laser beam is as well as the entrance side of the optical waveguide in the axis of rotation, so that the generated beam can be coupled without further technical aids in the optical waveguide.
  • the beam can be independent of a
  • Rotation direction and speed are coupled into the optical waveguide.
  • the glass fibers are arranged bundled on the inlet side of the optical waveguide.
  • a laser may be stationary or not rotatable positioned and the at least one beam generated a lens or directly into the
  • the at least one generated beam can be coupled into all optical fibers simultaneously.
  • a cross section of the respective glass fibers on the inlet side of the optical waveguide Due to the bundled arrangement of the glass fibers on the inlet side of the optical waveguide, the at least one generated beam can be coupled into all optical fibers simultaneously.
  • Fiber optic reduced or enlarged Preferably, the
  • Fiber optic cables are coupled.
  • the cross section can in this case be varied both by a distributed or bundled arrangement of the respective glass fibers and by a cross section of the respective glass fibers.
  • the glass fibers each have their own transmitting optics on the exit side of the optical waveguide.
  • the individual or selected glass fibers can be used with a micro-lens directly be printed or equipped on a fiber facet. This can
  • These lenses printed on the fiber facet may have a
  • a printing of such an objective can be realized, for example, by 2-photon lithography.
  • the glass fibers on the outlet side of the optical waveguide on a common transmission optics can be of a particularly simple design, since only one common transmission optics is required. As a result, less
  • LIDAR device can be designed to save space.
  • Deflection device rotatable along a 360 ° angle. By rotating the deflection device through 360 °, light or the at least one generated beam can be emitted in all directions, so that a horizontal scanning range of 360 ° is made possible.
  • the vertical scanning area or field of view can be defined by the number of optical fibers, their orientation or spacing from one another and in conjunction with the transmitting optics and the detector resolution.
  • the vertically stacked glass fibers on the exit side of the optical waveguide form a linear laser beam.
  • Fiber optics in the scanning decoupled beams are combined by suitable transmission optics to a vertically aligned line so that a divergence of the line defines the vertical scanning angle or field of view.
  • the line can be realized either by expanding at least one beam using optical elements such as cylindrical lenses or by positioning a plurality of optical fibers on top of each other.
  • the detector is designed annular and arranged statically around the laser.
  • the deflection device can thus serve both to guide and deflect at least one generated beam and to receive and deflect at least one reflected beam.
  • the detector is arranged statically next to the laser or on a side of the device opposite the laser.
  • the detector may be implemented as a 2D array.
  • the detector may be arranged parallel to the laser.
  • a receiving optics which has a mirror and on the rotatable
  • the detector may be disposed in the axis of rotation and positioned on a side of the LIDAR device opposite the laser. Thereby, the reflected beams can be received and detected unrestrictedly along a horizontal 360 ° scanning range. According to a further embodiment, the detector is in the
  • the detector can be rotatably arranged or integrated in the deflection device.
  • the detector can be constructed technically simpler, since a line detector is already sufficient. The received beams are imaged on the line detector, so that an optimal use of the available detection pixels can be ensured.
  • the at least one beam is deflected by the deflection device and along a
  • the at least one generated beam is coupled into a deflected device arranged in the optical waveguide with at least two glass fibers for deflecting.
  • a deflected device arranged in the optical waveguide with at least two glass fibers for deflecting.
  • the at least one generated beam can be coupled out of the at least two glass fibers as at least two offset partial beams.
  • the deflection device in this case has an optical waveguide with at least two
  • the beams can be coupled into the respective glass fibers, which can form a common core or separate cores of the optical waveguide.
  • the glass fibers guide the coupled beams over a defined angular range and thus deflect at least one generated beam.
  • the at least one coupled beam can leave the optical waveguide.
  • the optical waveguide is also rotatable as part of the deflection device and can thus deflect the at least one generated beam along a scanning region.
  • an entry region of the optical waveguide is positioned in an axis of rotation of the deflection device.
  • the laser is in this case arranged such that a generated beam also extends through the axis of rotation and can be coupled into the optical waveguide.
  • the optical waveguide with the at least two glass fibers as one or more cores of the optical waveguide fulfills the function of a beam splitter which can receive, guide and divide at least one generated beam.
  • the respective glass fibers can be spaced from each other and / or angularly offset from each other.
  • Scanning area can be used.
  • a vertical resolution of a LIDAR device can be increased or a larger vertical range can be scanned without additional control effort.
  • Fig. 1a is a schematic representation of an optical waveguide of a
  • Fig. 1 b is a schematic representation of the optical waveguide a
  • FIG. 2 shows a schematic representation of a transmission optical system of the optical waveguide of a deflection device according to a third exemplary embodiment
  • FIG. 3 shows a schematic illustration of a LIDAR device according to a first exemplary embodiment
  • Fig. 4 is a schematic representation of a LIDAR device according to a second embodiment
  • Fig. 5 is a schematic representation of a LIDAR device according to a third embodiment.
  • FIGS. 1 a and 1 b each show optical waveguides 1.
  • the optical waveguides 1 are arranged in a deflecting device shown in FIG. 3 and numbered.
  • the optical waveguides 1 have an entrance side 2 for coupling in of rays and an exit side 4 for decoupling of rays.
  • the optical waveguide 1 has two glass fibers 6 and is a so-called "bifurcated fiber.”
  • the glass fibers 6 each form a core of the optical waveguide 1.
  • the glass fibers 6 are arranged bundled on the inlet side 2.
  • On the outlet side 4 are the Glass fibers 6 from each other spaced and have an angle to each other.
  • a coupled into the optical waveguide 1 beam can be divided by the two glass fibers 6 into two sub-beams and fanned out at a decoupling.
  • the optical waveguide 1 according to the second exemplary embodiment has a large number of glass fibers 6.
  • the optical waveguide 1 is designed in the form of a so-called "multi-branch fiber".
  • FIG. 2 shows a glass fiber 6 of an optical waveguide 1.
  • the outlet side 4 of the optical waveguide 1 is shown enlarged.
  • a glass fiber 6 of an optical waveguide 1 is shown enlarged.
  • FIG. 3 shows a schematic representation of a LIDAR device 10 according to a first exemplary embodiment.
  • the LIDAR device 10 has a laser 12 which generates a beam 14.
  • the generated beam 14 is coupled on the inlet side 2 in the optical waveguide 1.
  • the optical waveguide 1 is positioned in the rotatable deflection device 16 and has a bend of 90 °.
  • the deflection device 16 can by not shown actuators or
  • the optical waveguide 1 is arranged in the deflection device 16 such that the entry side 2 lies in the axis of rotation R. Since the laser 12 is also located in the axis of rotation R, generated beams 14, regardless of rotation of the
  • Deflection device are coupled into the optical waveguide 1.
  • An objective 18 focuses the generated beam 14 on the bundled glass fibers 6 on the inlet side 2 of the optical waveguide 1.
  • the deflection device 16 also has a receiving optics 22.
  • the reflected at an object 24 partial beams 26 are received by the receiving optics 22 and Reflected via a also positioned in the deflector 16 mirror 28 to a detector 30.
  • the reflected beams 20 become received beams 32, which are directed onto the detector 30.
  • the detector 30 according to the embodiment is a ring detector, which is arranged around the laser 12 around and is carried out with the laser 12 stationary or immovable.
  • FIG 4 is a LIDAR device 10 according to a second
  • the LIDAR device 10 has a detector 30, which is designed in the form of a 2D array 30.
  • the detector 30 is arranged according to the embodiment on an opposite side of the laser 12.
  • the deflection device 16 to a receiving optics 22 and a mirror 28, which are arranged to deflect the reflected beams 26 of the laser 12 from.
  • the detector 30 is located in the axis of rotation R and may be rotationally symmetrical.
  • reflected rays 26 and subsequently received rays 32 may be directed to the detector 30.
  • only the orientation of the received beams 32 on the detector 30 varies since this is located outside of the deflection device 16 and thus stationary.
  • FIG. 5 illustrates a LIDAR device 10 according to a third exemplary embodiment. Unlike the ones already mentioned
  • the detector 30 is in or on the rotatable
  • the detector 30 is a line detector

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

Abstract

L'invention concerne un dispositif LIDAR permettant le balayage d'une zone de balayage, comprenant un laser, de disposition statique, permettant de générer au moins un faisceau, un dispositif de déviation rotatif le long d'un axe de rotation et destiné à dévier l'au moins un faisceau généré, dans la zone de balayage, et une optique de réception destinée à la réception et à la déviation de l'au moins un faisceau réfléchi par un objet sur un détecteur, le dispositif de déviation présentant un guide optique ayant au moins deux fibres de verre parallèles, et les aux moins deux fibres de verre parallèles étant mutuellement décalées sur une face de prélèvement du guide optique. L'invention concerne également un procédé de fonctionnement d'un système LIDAR.
PCT/EP2018/069823 2017-07-27 2018-07-20 Dispositif lidar et procédé doté d'un dispositif de déviation amélioré Ceased WO2019020532A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017212926.3A DE102017212926A1 (de) 2017-07-27 2017-07-27 LIDAR-Vorrichtung und Verfahren mit einer verbesserten Ablenkvorrichtung
DE102017212926.3 2017-07-27

Publications (1)

Publication Number Publication Date
WO2019020532A1 true WO2019020532A1 (fr) 2019-01-31

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PCT/EP2018/069823 Ceased WO2019020532A1 (fr) 2017-07-27 2018-07-20 Dispositif lidar et procédé doté d'un dispositif de déviation amélioré

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DE (1) DE102017212926A1 (fr)
WO (1) WO2019020532A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3699638A1 (fr) * 2019-02-22 2020-08-26 Sick Ag Capteur optoélectronique et procédé de détection d'un objet

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020209776A1 (de) 2020-08-04 2022-02-10 Robert Bosch Gesellschaft mit beschränkter Haftung Lidar-Sensor mit variabler Winkelauflösung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19927501A1 (de) * 1999-05-22 2000-11-23 Volkswagen Ag Sendeeinrichtung für einen Laserscanner
EP1890168A1 (fr) * 2006-08-18 2008-02-20 Leica Geosystems AG Scanner à laser
DE102011107594A1 (de) 2011-07-16 2013-01-17 Valeo Schalter Und Sensoren Gmbh Optische Messvorrichtung für ein Fahrzeug, Fahrerassistenzeinrichtung mit einer derartigen Messvorrichtung sowie Fahrzeug mit einer entsprechenden Messvorrichtung
DE102013207916A1 (de) * 2013-04-30 2014-10-30 Robert Bosch Gmbh Optische Vorrichtung für einen Dachhimmel eines Kraftfahrzeuginnenraums

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Publication number Priority date Publication date Assignee Title
US7800758B1 (en) * 1999-07-23 2010-09-21 Faro Laser Trackers, Llc Laser-based coordinate measuring device and laser-based method for measuring coordinates
US7304296B2 (en) * 2005-10-05 2007-12-04 Raytheon Company Optical fiber assembly wrapped across gimbal axes
US7978312B2 (en) * 2007-11-01 2011-07-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Three-dimensional range imaging apparatus and method
US9506750B2 (en) * 2012-09-07 2016-11-29 Apple Inc. Imaging range finding device and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19927501A1 (de) * 1999-05-22 2000-11-23 Volkswagen Ag Sendeeinrichtung für einen Laserscanner
EP1890168A1 (fr) * 2006-08-18 2008-02-20 Leica Geosystems AG Scanner à laser
DE102011107594A1 (de) 2011-07-16 2013-01-17 Valeo Schalter Und Sensoren Gmbh Optische Messvorrichtung für ein Fahrzeug, Fahrerassistenzeinrichtung mit einer derartigen Messvorrichtung sowie Fahrzeug mit einer entsprechenden Messvorrichtung
DE102013207916A1 (de) * 2013-04-30 2014-10-30 Robert Bosch Gmbh Optische Vorrichtung für einen Dachhimmel eines Kraftfahrzeuginnenraums

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3699638A1 (fr) * 2019-02-22 2020-08-26 Sick Ag Capteur optoélectronique et procédé de détection d'un objet
CN111610533A (zh) * 2019-02-22 2020-09-01 西克股份公司 用于检测对象的光电传感器和方法
CN111610533B (zh) * 2019-02-22 2023-02-17 西克股份公司 用于检测对象的光电传感器和方法

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