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EP3491413A1 - Ensemble optique pour système lidar, système lidar et dispositif de travail - Google Patents

Ensemble optique pour système lidar, système lidar et dispositif de travail

Info

Publication number
EP3491413A1
EP3491413A1 EP17743033.7A EP17743033A EP3491413A1 EP 3491413 A1 EP3491413 A1 EP 3491413A1 EP 17743033 A EP17743033 A EP 17743033A EP 3491413 A1 EP3491413 A1 EP 3491413A1
Authority
EP
European Patent Office
Prior art keywords
detector
optics
arrangement
view
field
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.)
Withdrawn
Application number
EP17743033.7A
Other languages
German (de)
English (en)
Inventor
Klaus Stoppel
Stefanie Mayer
Thomas FERSCH
Siegwart Bogatscher
Hans-Jochen Schwarz
Jan Sparbert
Annette Frederiksen
Reiner Schnitzer
Thorsten Balslink
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 EP3491413A1 publication Critical patent/EP3491413A1/fr
Withdrawn legal-status Critical Current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
    • G01S7/4817—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
    • 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
    • G01S17/42—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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates to an optical arrangement for a LiDAR system, a LiDAR system and a working device.
  • the present invention relates in particular to an optical arrangement for a LiDAR system for the optical detection of a field of view, in particular for a
  • the present invention relates to a LiDAR system for optically detecting a field of view as such and in particular for a working device, a vehicle or the like. Furthermore, a vehicle is provided by the present invention.
  • Sensor arrays used to detect the operating environment.
  • light-based detection systems are also increasingly used, e.g. so-called LiDAR systems (English: LiDAR: light detection and ranging).
  • a beam attenuator attenuating the intensity of the radiation can be dispensed with, so that there is no loss of intensity in the
  • an optical arrangement for a LiDAR system for optically detecting a field of view is provided, in particular for a working device, a vehicle or the like, in which on the one hand a receiver optics and a transmitter optics are formed at least on the field of view (i) with substantially coaxial optical axes and (ii) have a common deflection optics and on the other hand, on the detector side a detector optics is formed and has means, directly on the deflection optics - in particular from the field of view - to direct incident light onto a detector array.
  • the invention eliminates the
  • Detector optics has the ability and has the appropriate means, in direct cooperation with the deflection optics incident light, in particular from the field of view, on the deflection optics on the underlying
  • deflection optics is formed and has means for directing light from the field of view directly onto the detector optics.
  • the deflection optics with a one or two-dimensional controllable pivotable and / or swingable mirror, in particular micromirrors is formed. It is under a swinging mirror and a too To understand vibrations or swinging oscillatory movements excitable mirror
  • the mirror or micromirror is controllably pivotable and / or oscillatable (i) in a first angular range for irradiating primary light into the field of view and (ii) in a second
  • Angle range for directing secondary light from the field of view directly onto the detector optics is provided.
  • a particularly compact design of the optical arrangement adjusts itself according to a preferred development when the detector optics in
  • Detector arrangement is formed.
  • the detector optics comprises or forms a lens, in particular in the form of a hemisphere or in the form of a combination of a vertical circular cylinder and a hemisphere on an end face of the circular cylinder, wherein the detector array or a sensor element of Detector arrangement is arranged on a page applied to a convex side of the hemisphere.
  • the detector optics comprises or forms a material region embedding the detector arrangement or a detector element of the detector arrangement.
  • loss-generating interfaces are particularly effectively avoided.
  • a particularly high degree of detection accuracy can be achieved if, according to a further embodiment of the optical arrangement according to the invention, the detector arrangement or a sensor element of the
  • Detector arrangement is disposed substantially at the focal point or substantially in a focal plane of the detector optics.
  • Substantially perpendicular to detector-side optical axes of the transmitter optics and / or the receiver optics are.
  • an aperture optical system is provided, which is arranged upstream of the deflection optics and is designed to direct primary light from the deflection optics into the field of view and light from the field of view onto the deflection optics.
  • the present invention further relates to a LiDAR system for optically detecting a field of view, in particular for one or as part of a
  • an operating device in particular a vehicle or the like, which is formed with a LiDAR system according to the invention for optically detecting a field of view.
  • FIG. 1 is a block diagram schematically showing a
  • Embodiment of the optical according to the invention Arrangement in connection with an embodiment of a LiDAR system according to the invention shows.
  • FIG. 2 shows a schematic block diagram of another
  • FIGS. 4 to 5 show another embodiment of the optical arrangement according to the invention in a LiDAR system and its imaging properties.
  • Figures 6 to 8 show a schematic and sectional side view
  • Embodiments of the optical arrangement according to the invention with various possibilities of generating and providing primary light.
  • Figures 9 to 12 show a schematic and sectional side view of various detector optics and their imaging behavior, which can be used in embodiments of the optical arrangement according to the invention.
  • FIGS. 13 to 16 show graphs which are different
  • Figure 1 shows in the form of a schematic block diagram a
  • the LiDAR system 1 has a transmitter optics 60, which are emitted by a light source 65, e.g. in the form of a laser, and primary light 57 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for detecting and / or investigation of an object 52 located there emits.
  • a light source 65 e.g. in the form of a laser
  • primary light 57 - possibly after passing through a beam shaping optics 66 - in a field of view 50 for detecting and / or investigation of an object 52 located there emits.
  • the LiDAR system 1 has a receiver optics 30, which receives light and in particular reflected light from the object 52 in the field of view 50 as the secondary light 58 via a lens 34 as the primary optic and transmits secondary optics to a detector arrangement 20 via a detector optics 35.
  • control and evaluation unit 40th The control of the light source 65 and the detector assembly 20 via control lines 42 and 41 by means of a control and evaluation unit 40th
  • FIG. 1 the concepts of the common field of view deflection optics 32 and the detector-side detection optics 35 are shown schematically.
  • the deflection optics 62 as part of the primary optics 34 which can also be referred to as an objective and functions in conjunction with the transmitter optics 60 as an emitting projection objective, is designed to receive the primary light 57 and to direct it into the field of view 50 with the object 52.
  • the primary optics 34 acts in conjunction with the receiver optics 30 as a receiving projection lens.
  • an aperture optics 70 for suitably outputting the primary light 57 and for receiving the secondary light 58 in bundling fashion.
  • the detector arrangement 20 may be formed with one or more sensor elements 22.
  • the optical arrangement 10 is designed for a LiDAR system 1 for the optical detection of a field of view 50, in particular for a working device, a vehicle or the like, and is formed with a transmitter optics 60 for emitting a transmission light signal in the field of view 50, a detector array 20 and a Receiver optics 30 for optically imaging the field of view 50 on the detector assembly 20th
  • the receiver optics 30 and the transmitter optics 60 are formed on the field of view side (i) with substantially coaxial optical axes and have a common deflection optics 62.
  • the receiver optics 30 has a secondary optics 35 on the detector side, which is embodied and comprises means for directing incident light onto the detector arrangement 20 via the deflecting optics 62 from the field of view 50.
  • the transmitter optics 60 is generally formed and has means for emitting primary light 57 into the field of view 50.
  • the receiver optics 30 are formed and have means for optically imaging the field of view 50 on the
  • FIG. 2 shows, in a manner similar to FIG. 1, another embodiment of a LiDAR system 1 using an alternative embodiment of the optical arrangement 10 according to the invention.
  • the components provided in the embodiment according to FIG. 2 substantially correspond to the components shown in FIG. However, FIG. 2 emphasizes (a) the spatial proximity between the detector optics 35 as the secondary optics of the receiver optics 30 to the detector arrangement 20 and the sensor elements 22 on the one hand and (b) the immediate spatial ones
  • Detector assembly 20 with the sensor elements 22 to the light source 65 as the primary light 57 providing element 67 on the other.
  • FIG. 3 shows a more concrete embodiment of a LiDAR system 1 according to the invention using an embodiment of the invention
  • this embodiment realizes the basic principle shown in FIGS. 1 and 2.
  • the detector array 20 with a sensor element 22 together with a light source 65 or generally together with a primary light 57 providing element 67 in or on a common substrate 25, through which the detector plane 24 is defined.
  • the sensor element 22 and the element 57 providing the primary light 57 are arranged in the immediate spatial vicinity of one another.
  • the deflection optics 62 e.g. in the form of a controllably pivotable or oscillatable micromirror 63 only needs to be pivoted about immediately adjacent angular ranges and / or Wnkel Schemee low expansion, thereby applying the field of view 50 with the object 52 contained therein - optionally mediated by the aperture optics 70 - with primary light 57 and / or secondary light 58 from the field of view 50 to the detector assembly 20 to the sensor element 22 to judge.
  • the detector optics 35 has the shape of a lens 36 with a hemisphere segment 37 and a cylinder segment 38 with common
  • the hemisphere segment 37 is directly - e.g.
  • the differently marked beams for the secondary light 58 correspond to different distances 71 between the aperture optics 70 and the object 52.
  • the distance 71 between the object 52 in the field of view 50 and the deflection optics 62 is decisive.
  • the beam of the secondary light 58 denoted by the reference numeral 72-1 comes from a slightly distant object 52 of the field of view 50, whereas the beam of the secondary light 58 denoted by 72-3 comes from a further object 52 of the field of view 50.
  • the secondary light 58 takes more time to negotiate a greater distance, in which the mirror 63 gives away the deflection optics by a larger angle.
  • the beam 72-3 is more distracted than the beam to 72-1.
  • the deflection optics 62 and in particular their mirrors 63 have a first angular range 64-1, which serves to image the secondary light 58 from the field of view 50 onto the detector arrangement 20, and a second angle range
  • Angle range 64-2 which is the distribution of the primary light 57 from the primary light 57 providing element 67 into the field of view 50 into it.
  • FIGS. 4 and 5 show diagrammatically the imaging conditions in a
  • Figure 4 is a simple plan view
  • Figure 5 is an exploded view.
  • FIGS. 4 and 5 show the travel of the secondary light 58 with respect to the lenses 36 and the detector arrangement 20 with thin sensor elements 22.
  • FIGS. 6 to 8 show different embodiments of the optical arrangement 10 according to the invention with a focus on the different realizations of generating the primary light 57.
  • the element 67 generating the primary light 57 is formed by a light source 65 itself, for example one
  • Laser light source a laser diode or the like.
  • an external light source 65 is used which generates primary light 57 and directs it to a mirror element as element 67 providing primary light 57 in the substrate 25.
  • this is the primary light 57
  • FIGS. 9 to 12 schematically show imaging conditions
  • Detector assembly 20 are shown behind the detector optics 35.
  • FIGS. 9 and 12 each schematically show a detector optics 35 with two
  • FIGS. 10 and 11 show an arrangement with only one lens 36 for constructing the detector optics 35.
  • FIGS. 13 and 14 show, in the form of graphs, the relative light powers which occur in the case of detector optics with a lens 36 and with two lenses 36 which occur at the respective sensor element 22 as a function of the distance of the object 52.
  • Figures 15 and 16 respectively show the relative power at
  • Sensor element 22 of the detector assembly 20 as a function of the hole spacing, which is to be plotted on the abscissa, with coding for small distances 72-1, average distances 72-2 and large distances 72-3 from the object 52 in the field of view 50.
  • Previous LiDAR architectures 1 often use coaxial arrangements of transmitter path 60 and receiver path 30.
  • the transmitter itself consists e.g. from a modulated laser diode as the light source 65. In the simplest case, e.g. generates short pulses with high to very high peak power.
  • the detector arrangement 29 has a single or a plurality of AP diodes (avalanche photo diode) as the sensor element 22. PIN diodes are also common. Silicon and
  • Germanium diodes are less expensive than compound semiconductor diodes (e.g., InGaAs), but allow less efficient detection of radiation with wavelengths greater than about 900 nm.
  • the coaxial arrangement conventionally often requires a beam splitter which deflects the laser power in different directions, for example in the ratio 1: 1 (50%). That is, the transmit beam penetrates optional optics and the beam splitter before being directed by a deflection unit 62 in the direction of field of view 50 or FOV (field of view), in which the distance, presence, or reflection properties of a suspected object 52 are measured should.
  • a beam splitter which deflects the laser power in different directions, for example in the ratio 1: 1 (50%). That is, the transmit beam penetrates optional optics and the beam splitter before being directed by a deflection unit 62 in the direction of field of view 50 or FOV (field of view), in which the distance, presence, or reflection properties of a suspected object 52 are measured should.
  • FOV field of view
  • the direction of the object 52 as a target can be determined by the position of the deflection unit 62.
  • a further optics is provided.
  • the reflected beam from the object 52 follows as secondary light 58 the same path as the primary light 57 in the transmission path 60. This is the case when the deflection unit 62 has moved only negligibly little during the measurement. This condition is generally met.
  • the conventionally used beam splitter directs a portion of the receiving beam onto a receiver, possibly requiring further optics.
  • Receiver reduced by sources of interference (brake lights, headlights, sunlight).
  • the deflector always directs the receive beam to the same location on the detector.
  • the detector can be made very small (single diode) or a better receiving diode can be used (InGaAs).
  • the beam splitter is a part of the transmission power in the housing
  • the deflected beam can disturb the receiver.
  • the reception power is reduced by the beam splitter. This is a critical issue since the receive power i.d.R. is very low and further reduction is very detrimental to system performance.
  • the determination of the target direction must be made either by the deflection unit or the receiver. If the appearance angle of the target is determined by the position of the deflection unit, a single, large photodiode, onto which the entire FOV is projected, is sufficient in principle. This approach has the disadvantage that a lot of ambient light is directed to the detector.
  • the receiver may be constructed of a photodiode array or a photodiode array. This breaks up the FOV and exposes a single photodiode to only part of the FOV and thus only part of the ambient light.
  • optical reception and transmission paths can be realized independently, according to their individual requirements, no compromise is required.
  • a very large receiver diode array is necessary. It therefore can not be made cost-efficiently from compound semiconductors. This prevents the use of large, eye-safe wavelengths. Such an array also requires a great deal of electrical energy, which requires expensive cooling measures.
  • the system offers the stated advantages of a conventional coaxial system without its disadvantages. In addition, large and expensive detectors are unnecessary.
  • a core of the invention is the focusing of the receive pulse power emanating from a micromirror 63 onto a small area or point in a plane 24.
  • the separation of transmit path 60 and receive path 30 is by a
  • the beam of the secondary light 58 is further focused by a detector optics 35, which is located directly in front of the detector array 20.
  • the transmitting unit e.g. in the sense of an element 67 providing the primary light 57
  • the receiving unit e.g. in the sense of the detector arrangement 20 with a sensor element 22, arranged very close to each other.
  • Photodiode array may be used in the detector assembly 20.
  • the ability to manage with a single receive diode allows the use of large, eye-safe wavelengths, e.g. in the range of about 1550 nm, in an economical way.
  • an optical zero-meter signal can be provided.
  • a lens 36 of the detector optics 35 can be applied very space-saving directly to the detector.
  • Detector level to be built This can be flat or curved. Either a printed circuit board (PCB) or a semiconductor chip are conceivable.
  • PCB printed circuit board
  • a time-limited laser pulse is emitted from a small area on the detector plane.
  • the laser beam is directed via a deflection unit 62 to a point or object 52 in field of view 50 or FOV.
  • the light power reflected or diffusely scattered by the object 52 is collimated by the aperture optics 70 and directed back to the deflection optics 62 as a deflection unit.
  • the deflection unit 62 is e.g. a mirror 63 vibrating at least in one plane.
  • the mirror position has changed slightly as the mirror 63 oscillates continuously and rapidly.
  • the received pulse is thereby moved to a location on the
  • Detector plane 24 is projected, which is different from the emitter surface.
  • a small distance of the object 52 results in a weak deflection of the receive beam, beam 72-1 in FIG. 3.
  • a greater distance of the object 52 results in a stronger deflection, beam 72-3 in FIG.
  • the deflection is dependent on the oscillation frequency of the mirror 63, the distance 71 between the object 63 and the mirror 63, the distance between the detector plane 24 and the mirror 63 and possibly the aperture. Without further action, the receive beam projected onto the detector plane 24 would describe a line of possible projection locations, depending on the object distance 71.
  • the receiving beam of the secondary light 58 must be directed to a sensor element 22.
  • the projected beam would become very long and require large detectors.
  • reflections on nearby objects 52 would cause the receive beam to strike the emitter surface again and not be detected.
  • detector optics 35 which is applied before or directly onto the detector module as detector arrangement 20, remedies this problem.
  • FIG. 3 is a lens 36 with a hemispherical lens part 37 with a cylindrical base or base 28.
  • FIG. 3 shows a sectional view of an axisymmetric lens 36.
  • FIG. 4 shows the plan view of the detector plane 24.
  • FIG. 5 supplements FIG. 4 with an exploded view.
  • the individual elements of FIG. 5 are superimposed on the representation in FIG. 4. The further explanation is made with reference to FIG. 5 from top to bottom.
  • the right side represents the case of a mirror 63 oscillating in only one plane; one-dimensional or 1-D case.
  • the 1D case is also approximately true if the vertical frequency is chosen to be much smaller than the horizontal frequency.
  • the receive beam is deflected more or less far.
  • the legend on the right side breaks down the distance information using the reference numerals 72-1, 72-2, 72-3 for near, middle and long distances, respectively.
  • Two embodiments of lenses 36 are shown. On the left, the dome-shaped lens 36 already explained in FIG. 3, on the right a lens 36 of a similar shape, which is widened in the y-direction. The left lens 36 is able to compensate for the vertical deflection by the 2D mirror 63 as well.
  • a wider lens 63 could make collimation more independent of
  • the reception beam position 75 after collimation is ideally punctiform regardless of the object distance 71.
  • the detector surface is shaped and dimensioned so that all
  • Receiving beams are focused independently of the object distance 71 on it.
  • the laser aperture is formed by a laser component, which is integrated as light source 65 in the detector plane 24.
  • the laser can be applied as an external component to the substrate 25 (PCB / semiconductor material,
  • the wiring can be done directly on the substrate 25.
  • the laser can be worked out directly from the semiconductor material.
  • a high level of electromagnetic interference (EMC, EMI) can be caused by high-energy circuit elements at the detector level 24.
  • Substrate 25 consist, which is irradiated with a laser 65.
  • the substrate 25 can be provided with an opening or a hole at the location of the aperture which the laser beam penetrates from the rear side.
  • FIGS. 9 to 12 show the simulated beam path for individual beams (ray tracing). All rays are considered by one to be punctiform
  • the object distance 71 is represented by 72-1 near, 72-2 middle, 72-3 remote coded.
  • FIGS. 9 to 12 thus show simulated beam paths for a
  • FIGS. 9 and 10 show that the beams of the secondary light 58 emanate from a point-shaped deflection unit 62 (right) and strike the detector plane 24 (left).
  • Figures 11 and 12 show the lens 26 in detail for an input and for a
  • Distance between mirror 63 and detector plane 24 3 cm or 5 cm for one lens or two lenses 36
  • FIGS. 13 and 14 show the power incident on the sensor surface as a function of the object distance 71.
  • the values shown are related to the power emanating from the mirror 63.
  • the 100% missing power is deflected by the ball lens 37 at too low angle of incidence. Reception beams for very close objects 52 are not sufficiently deflected by the mirror 63 and fall back onto the laser aperture, more distant objects 52 produce beams which strike the lens 36 very flat and are thereby attenuated.
  • Incident rays always have a certain extent.
  • very close targets 52 produce a very strong backscatter signal. From these For reasons, very close objects 52 can also be detected in the real case.
  • dome-shaped and pill-shaped lenses 37 with base 38 Shown were dome-shaped and pill-shaped lenses 37 with base 38.
  • the specific embodiment of the detector optics 35 can be adapted according to the application. It is important that the detector optics 35 as far as possible all the incident rays of the secondary light 58 focused on one or more small areas as possible, as punctiform.
  • a holographic element would accomplish the deflection without a curved surface.
  • An asymmetrically shaped element could improve the minimum blind reach by making a shallower angle in the area of the opening
  • the entire power is distributed over an area of approximately 600 ⁇ m in diameter.
  • rays from very distant objects 52 would be directed to a point in the detector plane 24 at which no sensor element 22 is located. Thus, a higher would be

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

Abstract

La présente invention concerne un ensemble optique (10) pour un système LiDAR (1) destiné à la détection optique d'un champ de vision (50), en particulier pour un dispositif de travail, un véhicule, ou analogues, comportant une optique de réception (30) et une optique d'émission (60) qui présentent, au moins du côté du champ de vision, (i) des axes optiques sensiblement coaxiaux, et (ii) une optique de déviation (62) commune, et une optique de détecteur (35) agencées du côté du détecteur, et des moyens pour diriger la lumière incidente, en particulier en provenance du champ de vision (50), directement vers un ensemble détecteur (20) par l'intermédiaire de l'optique de déviation (62).
EP17743033.7A 2016-07-29 2017-07-25 Ensemble optique pour système lidar, système lidar et dispositif de travail Withdrawn EP3491413A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016213980.0A DE102016213980A1 (de) 2016-07-29 2016-07-29 Optische Anordnung für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung
PCT/EP2017/068715 WO2018019807A1 (fr) 2016-07-29 2017-07-25 Ensemble optique pour système lidar, système lidar et dispositif de travail

Publications (1)

Publication Number Publication Date
EP3491413A1 true EP3491413A1 (fr) 2019-06-05

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US (1) US20190178990A1 (fr)
EP (1) EP3491413A1 (fr)
CN (1) CN110140060B (fr)
DE (1) DE102016213980A1 (fr)
WO (1) WO2018019807A1 (fr)

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CN115122323A (zh) * 2019-08-09 2022-09-30 科沃斯机器人股份有限公司 自主移动设备

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DE102016213980A1 (de) 2018-02-01
WO2018019807A1 (fr) 2018-02-01
US20190178990A1 (en) 2019-06-13
CN110140060A (zh) 2019-08-16
CN110140060B (zh) 2024-01-30

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