WO2018015082A1 - Optical system for a lidar system, lidar system, and operating device - Google Patents

Abstract

The invention relates an optical arrangement (10) for a LIDAR system (1) for the optical detection of a field of view (50), in particular for an operating device or for a vehicle, comprising a detector arrangement (20) and receiving optics (30), in which the receiving optics (30) are designed for the optical imaging of the field of view (50) on the detector arrangement (20) and, for this purpose, have fiber optics (36) having one or having a plurality of fiber-optic elements (37) for optical connection to the detector arrangement (20).

Description

 description

title

 Optical arrangement for a LiDAR system, LiDAR systems and

working device

State of the art

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

Working device, a vehicle or the like. Furthermore, 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.

With the use of working devices, of vehicles and other machines and plants are increasingly operating assistance systems or

Sensor arrays used to detect the operating environment. In addition to radar-based systems or systems based on ultrasound, more and more light-based detection systems are also used, e.g. so-called LiDAR system (English: LiDAR: light detection and ranging).

In known LiDAR systems, there is a disadvantage in that a large reception or reception time required when scanning the field of view

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

Realizations of the association between receiver optics, in particular of the objective, to a detector arrangement to further structural restrictions conventional LiDAR systems. Both constraints reduce the flexibility of using known LiDAR systems.

Disclosure of the invention

The optical arrangement according to the invention with the features of

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

According to the invention with the features of independent claim 1 achieved in that 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. By providing a fiber optic or optical fiber optics for optically connecting the receiver optics with the

Detector arrangement is due to the mechanical flexibility of

Components of the fiber optic on the one hand and due to the possibility of length adjustment on the other hand, a higher compared to conventional LiDAR systems adaptability to the structural conditions of each application.

The dependent claims show preferred developments of the invention.

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. In 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.

In a preferred embodiment, the optical arrangement comprises a lens. The fiber optic is connected downstream of the lens

Secondary optics trained. The actual optical imaging is done primarily by the lens, whereas the optical coupling to the detector array is done by the secondary optics with the fiber optic as its component. Alternatively, the function of a lens - if necessary - basically in the light input side of the fiber optic or

Be realized optical fiber optics.

A particularly compact design can be according to another

Achieve preferred embodiment of the optical arrangement according to the invention by the fiber optic is designed as Taperoptik with a

Light input side of larger optical cross-sectional area and a

Light output side of smaller optical cross-sectional area. In particular, respective fiber-optic elements can taper from the light input side to the light output side. By using a tapered optical system, 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.

In another advantageous embodiment of the optical arrangement according to the invention, 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.

In the arrangement of the segments of the receiver optics offer a variety of geometric options to meet the particular application.

In an advantageous development of the optical arrangement, it is provided that the optically imaging segments of the receiver optics are or are arranged in a direction perpendicular to a receiving direction of the receiver optics,

in a direction perpendicular to a direction of a ray path of

 Receiver optics,

 along a line, preferably a straight line,

horizontally and / or vertically adjacent to one another with respect to one

 Orientation of the underlying LiDAR system or the underlying work machine.

All measures can be combined with each other and

may be supplemented by additional measures.

The terms "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.

Accordingly, it is particularly advantageous if each segment of the

Receiver optics for optical imaging of an associated segment of the field of view is formed on the detector array. By this measure, an association takes place between the optically imaging segments of the receiver optics and the segments of the field of view.

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.

Particularly favorable imaging conditions arise with regard to a good utilization of the available segments of the receiver optics, if according to another embodiment of the invention

Arrangement of the optically imaging segments of the receiver optics

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.

Alternatively, it is possible that the optically imaging segments of the receiver optics associated segments of the field of view are arranged spatially spaced or spatially. In this way, a spatially distributed design can be achieved, which can be adapted to the respective applications. In addition to the use of fiber optics in the field of receiver optics - optionally combined with a taper optics - another aspect of the present invention is the concept of segmentation and rearrangement of the receiver optics. However, the concept of segmentation can alternatively or additionally be transferred to the design of the detector arrangement.

Thus, according to another preferred embodiment of the optical arrangement, it is provided that the detector arrangement is or is formed segmented with a plurality of detector segments and that

in particular a 1-to-1 correspondence exists between the optically imaging segments of the receiver optics and the detector segments and / or that the detector segments have a spatial arrangement corresponding to the spatial arrangement of the optically imaging segments of the receiver optics.

A possible correspondence of the spatial arrangement is to be understood here above and below, for example, an identical orientation of the arrangement, eg horizontal, vertical or any other direction. Moreover, it is conceivable to transmit the concept of segmentation and distributed arrangement alternatively or additionally to one or the transmitter optics of the optical arrangement according to the invention.

So it is of particular advantage if the inventive optical

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.

In addition to electromagnetic radiation in the region visible to humans, light should also be understood to mean IR radiation here.

In the application, the segmentation of the transmission optics offers particular advantages, namely, in order to utilize the parallax effect, 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

Receiver optics and / or the transmitter optics.

Furthermore, 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.

According to another aspect of the present invention, there is also provided 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. Brief description of the figures

Embodiments of the invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows the manner of a schematic block diagram

 Structure of an embodiment of the LiDAR system according to the invention.

FIGS. 2 to 4 show a schematic side view of embodiments of the optical arrangement according to the invention for a LiDAR

System with different designs of fiber optics with and without taping.

Figures 5 and 6 show in perspective side view others

 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

Hereinafter, with reference to FIGS. 1 to 6

Embodiments of the invention described in detail. Identical and equivalent as well as equivalent or equivalent elements and components are designated by the same reference numerals. Not in her case

Occurrence is the detailed description of the designated elements and

Components reproduced.

The illustrated features and other properties can be isolated in any form from each other and combined with each other, without departing from the gist of the invention. Figure 1 shows in the form of a schematic block diagram a

Embodiment of the LiDAR system 1 according to the invention using an embodiment of the optical arrangement 10 according to the invention.

The LiDAR system 1 according to FIG. 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.

Furthermore, the LiDAR system 1 according to FIG. 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.

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.

In the embodiment of FIG. 1, 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

To supply detector assembly 20 and to image them.

In Figure 1, the receiver optics 30 according to an alternative

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.

In operation, as a result of this assignment by alignment, 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.

Shown is in each case 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. In the embodiment according to FIG. 2, 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

Cross-sectional area perpendicular to the local optical axis. 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.

In the embodiment according to FIG. 3, the optical coupling from the objective 34 via the secondary optics 35 to the detector arrangement 20 takes place

Reduction in the cross-sectional area over a corresponding taper or taper in the fiber optic 36 instead. This means that the objective 34 with a comparatively large input aperture, that is to say a large optical cross section, is imaged onto a reduced cross sectional area through the intermediary of the secondary optics 35 to the detector arrangement 20.

In the embodiment according to FIG. 3, the fiber-optic element 37 or the plurality of fiber-optic elements 37 has a different shape from that of FIG

Light input side 36-1 to the light output side 36-2 tapering

Cross-section. This means that the individual fiber optic elements 37 have a larger cross section on the light input side and a reduced cross section on the light output side.

In the embodiment according to FIG. 4, on the other hand, it is shown that, in addition to the fiber optics 36 with one or more fiber optic elements 37 of constant cross-section, 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.

Figures 5 and 6 show in perspective side view others

Embodiments of the inventive LiDAR system 1 below

Use of further aspects of the optical arrangement 10 according to the invention. In addition to the use of a tapered optic 38 and a fiber optic 36 as a secondary optic 35, in the embodiment according to FIG

Segmentation of the receiver optics 30 by a corresponding division of the lens 34 in a plurality of optically imaging segments 31, each associated with a segment 51 of the field of view 50 and the associated field of view segment 51 of the field of view 50 to the detector array 20 with corresponding detector segments 21 with one or more

Imaged detector elements 22.

Due to the segmentation of the objective 34 into a plurality of optically imaging segments 31, a corresponding plurality of optically coupled taper optics 38 with adjoining fiber optics 36 is also required.

In the embodiment according to FIG. 6, in addition to the use of a fiber optic 36 for coupling to a detector arrangement 20, a

Segmentation of the transmitter optics 60 in a plurality of optical segments 61 of the transmitter optics 60. Each optical segment 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

Field of view segments 51 incident secondary light 80 from the field of view 50 on the detector assembly 20 to image. Due to the segmentation, a spatial distance 90 between segment groups has arisen in the case of the LiDAR system 1 according to FIG. This spatial distance 90 can be used to make room for additional elements 45. These can be functional in nature, but it can simply be an emblem, a logo or the like.

These and other features and characteristics of the present invention will be further elucidated with reference to the following statements:

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. In order to collect the largest possible number of photons, it is advantageous to form a large receiving aperture in the LiDAR system. This leads to a large design with a round lens.

To increase flexibility in design and application, 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.

In addition, with conventional construction, the heat can not be removed sufficiently effectively inside the system. A flat design creates improvements in this respect. According to the invention, optical waveguide components 36, 37, in particular also using tapered optics 38, are used in a LiDAR system 1, in order thereby to provide a flexible and / or any desired geometric beam guidance or

Enable light conduction in the transmit and / or receive path. The taper optics 38 used are also segmented interpretable.

The following advantages arise:

- Flexible design, e.g. flat and wide and / or distributed.

 - Thermally improved arrangement of the components.

- Flexible design of the receiving surface, e.g. in dependency of

 Line of sight.

 Complete separation of reception path 30 and transmission path 60 possible with reduction or avoidance of crosstalk.

 Flexible design element 45, independent of cross-section, surface can take on any shapes, e.g. to be combined with OEM logo.

Figure 5 outlines the aspects of the invention: There are several

Receiver regions realized as optically imaging segments 31 by Taperoptik 38, each viewing a segment 51 of the field of view 50. As a result, any geometric designs of the beam guide and / or

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.

Claims

claims 1. An optical arrangement (10) for a LiDAR system (1) for the optical detection of a field of view (50), in particular for a working device, or for a vehicle,  with a detector arrangement (20) and a receiver optics (30),  - in which the receiver optics (30)  - Is designed for optical imaging of the field of view (50) on the detector assembly (20) and  - To a fiber optic (36) with one or a plurality of fiber optic elements (37) for optical connection to the detector assembly (20). 2. An optical arrangement (10) according to claim 1,  with a lens (34),  - Wherein the fiber optic (36) as the lens (34) downstream secondary optics (35) is formed. 3. An optical arrangement (10) according to claim 1 or 2,  - In which the fiber optic (36) is designed as Taperoptik with a Light input side (36-1) of larger optical cross-sectional area and a light output side (36-2) of smaller optical cross-sectional area,  - In which in particular respective fiber optic elements (37) from the light input side (36-1) to the light output side (36-2) towards tapering. 4. Optical arrangement (10) according to one of the preceding claims, wherein the receiver optics (30) is segmented with a - in particular odd - plurality of optical imaging segments (31) is formed. 5. An optical arrangement (10) according to claim 4, in which the optically imaging segments (31) of the receiver optics (30) and in particular of the objective (34) are arranged next to each other, preferably - In a direction perpendicular to a receive direction of the receiver optics (30)  in a direction perpendicular to a direction of a beam path of the receiver optics (30),  along a line, preferably a straight line,  horizontally and / or vertically adjacent to one another with respect to one Orientation of the underlying LiDAR system (1) or the underlying working device. 6. An optical arrangement (10) according to claim 4 or 5, wherein  - each optically imaging segment (31) of the receiver optics (30) is designed for optical imaging of an associated segment (51) of the field of view (50) on the detector arrangement (20),  - the totality of all - the optically imaging segments (31) of Receiver optics (30) associated with - segments (51) of the field of view (50) covers the field of view (50),  - The optically imaging segments (31) of the receiver optics (30) associated segments (51) of the field of view (50) no overlap or overlap of less than 10%, preferably less than 5%, more preferably less than 2% of each have swept solid angle with each other and / or  - segments (51) of the field of view (50) associated with the optically imaging segments (31) of the receiver optics (30) are directly adjacent to one another - in particular adjacent to one another - or spatially spaced apart from one another. 7. Optical arrangement (10) according to one of the preceding claims, in which  - The detector array (20) segmented with a plurality of Detector segments (21) is formed and in particular  - A 1-to-1 correspondence exists between the optically reproducing Segments (31) of the receiver optics (30) - in particular of the objective (34) and / or the fiber optics (36) - and the detector segments (21) and / or the detector segments (21) for spatial arrangement of the optically imaging segments (31). - In particular of the lens (34) and / or the fiber optic (36) - the receiver optics (30) have corresponding spatial arrangement. 8. Optical arrangement (10) according to one of the preceding claims, - having a segmented with a plurality of optical segments (61) formed transmitter optics (60) for illuminating the field of view (50) with light, in particular with a split beam path,  - In which a 1-to-1 correspondence between the optical imaging segments (31) of the receiver optics (30) - in particular of the lens (34) and / or the fiber optic (36) - and the optical segments (61) of the transmitter optics (60) and / or the optical segments (61) of the transmitter optics (60) correspond to a spatial arrangement of the optically imaging segments (31) of the receiver optics (30) - in particular of the objective (34) and / or the fiber optics (36) have spatial arrangement. 9. An optical arrangement (10) according to claim 8, in which an optical segment (61) of the transmitter optics (60) and an optically imaging segment (31) of the receiver optics (30) are spaced spatially from one another in a direction perpendicular to a transmitting and / or receiving direction of the transmitter optics (FIG. 60) or the receiver optics (30) and / or in a direction perpendicular to a direction of a beam path of the receiver optics (30) and / or the transmitter optics (60). 10. LiDAR system (1) for optically detecting a field of view (50), in particular for a working device or for a vehicle, with an optical arrangement (10) according to one of the preceding claims. 1 1. working device and in particular vehicle, with a LiDAR system (1) according to claim 10 for the optical detection of a field of view (50).