EP3695245A1 - Optische vorrichtung für eine abstandsmessvorrichtung nach dem lidar-prinzip - Google Patents
Optische vorrichtung für eine abstandsmessvorrichtung nach dem lidar-prinzipInfo
- Publication number
- EP3695245A1 EP3695245A1 EP18782392.7A EP18782392A EP3695245A1 EP 3695245 A1 EP3695245 A1 EP 3695245A1 EP 18782392 A EP18782392 A EP 18782392A EP 3695245 A1 EP3695245 A1 EP 3695245A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- light
- mirror
- deflection means
- optics
- light source
- 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.)
- Pending
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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
Definitions
- the present invention relates to an optical device for a distance measuring device according to the LIDAR principle according to the preamble of claim 1 and to a distance measuring device according to the LIDAR principle according to the preamble of claim 9.
- the LIDAR principle working distance measuring devices of the aforementioned type can be used in a motor vehicle, for example, for autonomous driving or accident prevention.
- the quality of the object resolution is of great importance.
- a device and a distance measuring device of the type mentioned are known from US 9 285 477 B1.
- the device described therein uses as a light source a pulsed infrared laser whose laser light is collimated.
- the collimated laser radiation impinges on an oscillating MEMS mirror serving as the first deflection means, which deflects the laser light into a first angular range to a refractive secondary optics.
- the secondary optics has a cylindrical entrance surface and a flat exit surface. From the secondary optics, the laser light is deflected into a second angular range, which is greater than the first angular range, so that the horizontal field of view is increased.
- Fig. 5 to Fig. 7 illustrate the conditions in such a design.
- the device depicted therein comprises a light source 1, for example a laser light source with a primary optics 2, which collimates the light 3 emerging from the laser light source. From an oscillating mirror 4, the light 3 is deflected in an angular range, which may be, for example, 60 °. The deflected light 3 strikes a refractive secondary optic 5, which has a cylindrical entrance surface 6 and a flat exit surface 7. From the secondary optics 5, the light 3 emerges as a comparatively strongly divergent beam (see FIGS.
- the problem underlying the present invention is the provision of a device of the type mentioned, which has a comparatively small beam extent in the far field despite a large angular range in which the light is deflected.
- the present invention is further based on the problem to provide a distance measuring device of the type mentioned, which has a comparatively good object resolution despite a large horizontal field of view.
- the device comprises optical means which influence the light so that it impinges on the second deflection means as convergent light.
- the divergence of the light emerging from the second deflection means can be largely avoided. so that there is a small beam divergence and thus a small beam spread at a distance from the device which, when used in a distance measuring device, typically corresponds to the distance to the objects to be detected. This results in a good object resolution, so that the known from the prior art high-resolution elements on the receiver side can be omitted.
- the optical means are designed as primary optics or are part of a primary optic through which the light emanating from the at least one light source at least partially passes before impinging on the first deflection means or at least the light emanating from the at least one light source partially reflected on the first deflection means, wherein the primary optics in particular has a positive refractive power with a focal length.
- the primary optics may be designed as a converging lens or comprise a converging lens.
- the at least one light source may have an exit aperture that is at a distance from the focal plane of the primary optic such that the light impinges on the second deflection means as convergent light. In this way can be achieved with simple means, the invention desired small beam extent in the far field.
- the first deflection means are designed as movable mirrors, in particular oscillating about an axis of rotation, wherein the mirror is preferably a MEMS mirror.
- the mirror can be any suitable mirror.
- the mirror can be any suitable mirror.
- a light beam can be moved very effectively over an angular range of up to about 60 °.
- the second deflection means are formed as a secondary optics or include a secondary optics, wherein the secondary optics has a curved refractive surface, in particular a cylindrical lens, or a curved reflecting surface, in particular a cylindrical mirror. It can the cylinder axis of the cylindrical lens or the cylinder mirror may be substantially parallel to the axis of rotation of the mirror.
- the angular range in which the light is deflected can be increased, for example, doubled, so that when used in a distance measuring device, a large horizontal field of view can be realized.
- a continuous curvature of the refractive or reflective surface is advantageous because a continuously curved shape ensures a stepless deflection.
- the curved refractive surface or the curved reflecting surface of the secondary optics has curvatures with respect to two mutually perpendicular directions.
- the curved refractive surface or the curved reflecting surface of the secondary optics can not only increase the angular range in which the light is deflected in the horizontal direction but also affect the light in the vertical direction, in particular form the light in the vertical direction.
- the secondary optics has an entrance surface and an exit surface for the light, both of which are curved, wherein the entry surface has a curvature differing from the curvature of the exit surface.
- the curvature of the entry surface can deflect or influence or shape the light in the state installed in a motor vehicle in a horizontal direction
- the curvature of the exit surface can deflect or influence or shape the light in the state installed in a motor vehicle in the vertical direction.
- the entry surface and the exit surface each have a cylindrical lens whose cylinder axes are aligned perpendicular to each other.
- the secondary optics comprise more than one component.
- two or more of the components may have a curved refractive surface, in particular a cylindrical lens, or a curved reflecting surface, in particular a cylindrical mirror. In this way, more than one component can contribute to the deflection in the second angular range, so that in particular the second angular range can be increased.
- the sum of the distance from the primary optics to the first deflection means and the distance from the first deflection means to the second deflection means is greater than the focal length of the primary optics, in particular by a factor of 5 to 50 greater than the focal length of the primary optics , With such distance ratios, a suitable convergence of the light impinging on the second deflection means can be ensured comparatively effectively.
- the distance measuring device comprises a device according to the invention.
- a laser beam shaped into a bundle which is as parallel or narrow as possible can be pivoted in the horizontal field of interest, so that a good object resolution is achieved.
- Figure 1 is a schematic plan view of an embodiment of a device according to the invention, in which the light exits the device in a first direction.
- Fig. 2 is a schematic plan view of the embodiment of Fig. 1, in which the light exits the device in a second direction;
- Fig. 3 is a detail according to the arrow III in Fig. 2;
- FIG. 4 is a diagram illustrating the beam cross-section of the outgoing light from the embodiment of Figure 1 in the far field.
- Fig. 5 is a schematic plan view of an embodiment of a prior art device in which the light exits the device in a first direction;
- Fig. 6 is a schematic plan view of the embodiment of Fig. 4, in which the light exits the device in a second direction;
- Fig. 7 is a diagram illustrating the beam cross-section of the emanating from the embodiment of FIG. 4 light in the far field.
- the illustrated in Fig. 1 to Fig. 3 embodiment of a device 10 according to the invention comprises a light source 1 1, is emitted from the light 12.
- the light source 1 1 may be a laser light source, for example a pulsed infrared laser. It may in particular be a semiconductor laser. However, it is also possible to use a CW laser instead of a pulsed laser. Furthermore, it is also possible to use a laser having an emission wavelength outside the infrared spectral range, for example in the visible range. Furthermore, more than one laser light source can certainly be provided.
- the device 10 further comprises a primary optic 13, through which the light 12 emerging from the light source 1 1 passes.
- the primary optics 13 is formed in the illustrated embodiment as a converging lens with a focal length f, in particular as a biconvex lens (see Fig. 3). It is quite possible to use other primary optics that include, for example, more than one lens. Mirrored or mirrored primary optics may also be used.
- the device 10 further comprises an oscillating mirror 15 serving as the first deflection means, which is designed in particular as a MEMS mirror with a diameter of the reflective surface, for example between 1 mm and 5 mm.
- the mirror 15 is in particular moved over an angular range of ⁇ 15 °, so that the reflected light from the mirror 15 12 is deflected in an angular range of about ⁇ 30 ° or in an angular range of about 60 °. In this case, the apparent from Fig. 3 convergence of the light 12 is maintained.
- the device 10 further comprises secondary optics 16 serving as second deflection means.
- the illustrated embodiment of the secondary optics 16 has a concave cylindrical entrance surface 17 and a plane exit surface 18.
- the cylinder axis of the cylindrical lens formed by the cylindrical entry surface 17 extends into the plane of the drawing of FIGS. 1 and 2 and is thus substantially parallel to the unillustrated axis of rotation about which the mirror 15 oscillates.
- FIG. 1 shows that the sum of the distance di from the primary optics 13 to the first deflecting means configured as a mirror 15 and the distance 02 from the first deflecting means to the second deflecting means designed as secondary optics 16 is greater than the focal length f of the primary optics 13.
- the sum of the distances di + 02 may be greater than the focal length f of the primary optics 13 by a factor of 5 to 50.
- the secondary optics 16 increases by the design of the curved entrance surface 17 and the flat exit surface 18, the angular range in which the light 12 is deflected.
- the size of the angular range can be approximately doubled, so that the light 12 is deflected into an angular range of approximately ⁇ 60 ° or into an angular range of approximately 120 °.
- FIG. 1 shows a light bundle incident approximately centrally on the entry surface 17, which is not deflected.
- FIG. 2 shows a light bundle impinging in the edge region of the entry surface 17, which light beam is deflected clearly outward in the exit from the secondary optics 16 with respect to the direction of incidence.
- the secondary optics 16 can be designed so that a change in direction of the output light bundle occurs at least in adjacent contact areas when the direction of the input light bundle changes, for example such that the change in direction on the output side is always about twice as large as the change in direction on the input side.
- both the entry surface and the exit surface may be curved, but in particular the curvature of the entry surface may be greater than the curvature of the exit surface.
- the secondary optics mirror in particular cylindrical mirror, comprises or is designed as exclusively consisting of mirrors optics. Due to the convergence of the incident light 12 on the secondary optics 16, the light 12 is not widened as much by the secondary optics 16 as in the prior art. It occurs largely collimated or as a largely parallel light beam from the secondary optics, so that the beam width 19 of individual partial beams 20 of the light in the far field is comparatively small (see FIG. 4).
- the beam emanating from the primary optics 13 has a finite and relevant extent when it encounters the secondary optics 19.
- the secondary optics 19 increases the deflection angle of each beam of the beam by a constant factor, then to reduce the divergence of the outgoing light, the outer beams of the beam should converge relative to the beam center beam.
- the inner marginal ray is deflected less strongly than the central ray, so that it must already have a predistortion in the direction of the later total deflection.
- the outer marginal ray is deflected more strongly than the center ray, so it must already run towards the center ray to experience a later lower total deflection. In this way, the convergence of the light 12 impinging on the secondary optics 19 leads to a smaller divergence of the light 12 emerging from the secondary optics 19.
- the device 10 is integrated into the distance measuring device such that in the state installed in a motor vehicle the angular range into which the second deflection means divert the light emanating from the first deflection means is a horizontal angle range.
- Such a distance measuring device comprises, in addition to the optical device 10, in particular detector means, which can detect the light reflected back or scattered back from an object outside the motor vehicle.
- detector means which can detect the light reflected back or scattered back from an object outside the motor vehicle.
- a cylindrical entry surface 17 and a flat exit surface 18 are provided.
- the cylinder axis of the cylindrical entry surface 17 is aligned so that the entry surface influences the horizontal direction of the light.
- the plane exit surface 18 could provide a curved exit surface.
- the exit surface could have a curvature with respect to the direction extending in the plane of the drawing of FIGS. 1 and 2.
- the curvature of the exit surface would be perpendicular to the curvature of the entry surface 17, so that the curved exit surface in the vertical direction influences the light, in particular forms the light in the vertical direction.
- the entrance surface 17 not only has a curvature in the drawing plane of Fig. 1 and Fig. 2, but in addition also has a curvature in the direction perpendicular thereto, extending in the plane of the drawing direction. Then, the entrance surface would no longer be a cylindrical lens, but rather an area curved in two directions, for example. In such an embodiment, the entry surface 17 can influence the light both in the horizontal direction and in the vertical direction, in particular shaping the light in the vertical direction.
Landscapes
- 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
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017123462.4A DE102017123462A1 (de) | 2017-10-10 | 2017-10-10 | Optische Vorrichtung für eine Abstandsmessvorrichtung nach dem LIDAR-Prinzip |
PCT/EP2018/076759 WO2019072633A1 (de) | 2017-10-10 | 2018-10-02 | Optische vorrichtung für eine abstandsmessvorrichtung nach dem lidar-prinzip |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3695245A1 true EP3695245A1 (de) | 2020-08-19 |
Family
ID=63762510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18782392.7A Pending EP3695245A1 (de) | 2017-10-10 | 2018-10-02 | Optische vorrichtung für eine abstandsmessvorrichtung nach dem lidar-prinzip |
Country Status (5)
Country | Link |
---|---|
US (1) | US11639986B2 (de) |
EP (1) | EP3695245A1 (de) |
CN (1) | CN111164450B (de) |
DE (1) | DE102017123462A1 (de) |
WO (1) | WO2019072633A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11360218B2 (en) * | 2018-09-21 | 2022-06-14 | Aptiv Technologies Limited | Wide field-of-view lidar optical assembly and system |
US20210124018A1 (en) * | 2019-10-23 | 2021-04-29 | Waymo Llc | LIDAR with Field of View Extending Window |
TWI829200B (zh) * | 2022-06-17 | 2024-01-11 | 大陸商信泰光學(深圳)有限公司 | 光學裝置(八) |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4517744B2 (ja) * | 2004-06-24 | 2010-08-04 | 株式会社デンソー | 光スキャナ |
JP2014052366A (ja) * | 2012-08-06 | 2014-03-20 | Ricoh Co Ltd | 光計測装置、車両 |
DE102012025281A1 (de) * | 2012-12-21 | 2014-06-26 | Valeo Schalter Und Sensoren Gmbh | Optische Objekterfassungseinrichtung mit einem MEMS und Kraftfahrzeug mit einer solchen Erfassungseinrichtung |
US9285477B1 (en) | 2013-01-25 | 2016-03-15 | Apple Inc. | 3D depth point cloud from timing flight of 2D scanned light beam pulses |
DE102015209418A1 (de) * | 2015-05-22 | 2016-11-24 | Robert Bosch Gmbh | Scanvorrichtung und Scanverfahren |
DE102015217908A1 (de) * | 2015-09-18 | 2017-03-23 | Robert Bosch Gmbh | Lidarsensor |
DE102016102591A1 (de) * | 2016-02-15 | 2017-08-17 | Limo Patentverwaltung Gmbh & Co. Kg | Vorrichtung zur Formung von Laserstrahlung |
CN106443634A (zh) * | 2016-10-31 | 2017-02-22 | 上海博未传感技术有限公司 | 一种固态激光雷达*** |
-
2017
- 2017-10-10 DE DE102017123462.4A patent/DE102017123462A1/de active Pending
-
2018
- 2018-10-02 US US16/754,554 patent/US11639986B2/en active Active
- 2018-10-02 WO PCT/EP2018/076759 patent/WO2019072633A1/de unknown
- 2018-10-02 EP EP18782392.7A patent/EP3695245A1/de active Pending
- 2018-10-02 CN CN201880062969.8A patent/CN111164450B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
DE102017123462A1 (de) | 2019-04-11 |
CN111164450A (zh) | 2020-05-15 |
US11639986B2 (en) | 2023-05-02 |
CN111164450B (zh) | 2023-09-22 |
WO2019072633A1 (de) | 2019-04-18 |
US20200256959A1 (en) | 2020-08-13 |
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