arrangement

Abstract

Arrangement (1) with a LIDAR scanner (2) for detecting objects in a detection area, wherein the LIDAR scanner (2) has a transmitter (6) and a receiver, wherein non-visible light beams (5) emitted by the transmitter (6) are periodically guided in a scan plane (11) in the detection area, characterized in that the arrangement (1) has a visualization module (3) associated with the LIDAR scanner (2), which emits visible alignment light beams (14) by means of which the scan plane (11) is visualized.

Description

[0001] The invention relates to an arrangement with a LIDAR scanner.

[0002] LiDAR scanners according to the present invention comprise a light-emitting transmitter and a light-receiving receiver, wherein the transmitter emits light beams in the non-visible wavelength range. The light beams are periodically guided by a deflection unit in a scan plane within a detection area in which object detections are performed.

[0003] The LIDAR scanner preferably forms an area distance sensor, which allows objects to be detected with spatial resolution.

[0004] To ensure safe and reliable object detection in an application, it must be aligned, especially before commissioning, so that the scan plane runs in a predetermined orientation.

[0005] One problem here is that the transmitter of the LIDAR scanner emits light beams in the non-visible wavelength range, so that visual control using the light beams is not possible.

[0006] Known alignment aids solve this problem by placing detectors outside the LiDAR scanners, which receive the light beams and thus generate alignment signals. This allows the scan plane to be captured only at specific points. Furthermore, the placement of external detectors is time-consuming and cumbersome. The accuracy of the LiDAR scanner's scan plane alignment is also limited.

[0007] The invention is based on the objective of ensuring reliable and accurate alignment of a LIDAR scanner.

[0008] The features of claim 1 are provided to solve this problem. Advantageous embodiments and expedient further developments of the invention are described in the dependent claims.

[0009] The invention relates to an arrangement with a LiDAR scanner for detecting objects within a detection area, wherein the LiDAR scanner comprises a transmitter and a receiver. Invisible light beams emitted by the transmitter are periodically guided in a scan plane within the detection area. The arrangement includes a visualization module associated with the LiDAR scanner, which emits visible alignment light beams by means of which the scan plane is visualized.

[0010] The basic idea of ​​the invention is therefore to provide the LiDAR scanner with a visualization module in a fixed spatial arrangement, the visible alignment light beams of which visualize the scan plane of the LiDAR scanner. A user can thus directly visually control the scan plane of the LiDAR scanner, in order to mount the LiDAR scanner in a desired adjustment position on a stand or the like.

[0011] The alignment of the LIDAR scanners according to the invention can therefore be carried out quickly, easily and precisely.

[0012] The alignment light rays are advantageously projected into the scan plane.

[0013] The alignment light beams visualize at least partial areas of the scan plane.

[0014] By superimposing the alignment light beams onto the scan plane, it is visualized directly and immediately, which makes precise adjustment of the LIDAR scanner particularly easy.

[0015] The key point here is that the visualization module generates planar alignment light beams, by means of which at least partial areas of the scan plane are visualized, so that a user can visually control the spatial course of the scan plane.

[0016] Advantageously, the alignment light rays produce a visible image of the horizontal and vertical position of the scan plane relative to the base coordinate system over a defined angular range.

[0017] This provides the user with information about the spatial orientation of the scan plane.

[0018] The alignment light rays also provide a particularly advantageous way to visualize the center of symmetry of the scan plane.

[0019] This can be indicated by an additional optical marker generated with the alignment beams.

[0020] An advantageous aspect of the fixed spatial assignment of the visualization module to the LIDAR scanner is that the visualization module establishes a fixed reference to the basic coordinate system of the LIDAR scanner.

[0021] If the alignment light beams are projected onto a wall element or the like, the tilt (pitch), yaw and roll angle of the LIDAR scanner can be determined.

[0022] The invention can be extended in such a way that the light beams of the LIDAR scanner are guided in several scan planes, which are visualized with the alignment light beams.

[0023] According to a first version of the invention, the visualization module is integrated into the LIDAR scanner.

[0024] In this case, the visualization module is integrated with the components of the LiDAR scanner within a sensor housing of the LiDAR scanner. This allows for a particularly simple and fixed spatial assignment of the visualization module to the LiDAR scanner and its scan plane.

[0025] According to a second variant, the visualization module can be attached to the LIDAR scanner as a separate unit.

[0026] It is advantageous to lock the visualization module in a predetermined position on the LIDAR scanner using fastening means.

[0027] In this way, a defined relationship between the visualization module and the LIDAR scanner and its scan plane is maintained.

[0028] The advantage is that the visualization module is only temporarily attached to the LIDAR scanner.

[0029] In particular, the visualization module can only be attached to the LIDAR scanner during an adjustment process.

[0030] According to a structurally advantageous embodiment, the visualization module is integrated into a housing.

[0031] The LIDAR scanner is advantageously integrated into a sensor housing that is contour-adapted to the housing of the visualization module.

[0032] This allows the visualization module to be easily mounted in a desired position on the LIDAR scanner.

[0033] According to an advantageous embodiment of the invention, the visualization module comprises a coherent, visible light-emitting light source and a diffractive optical element downstream thereof, wherein a spatial intensity pattern of alignment light rays is generated from the coherent light by the diffractive optical element.

[0034] The diffractive optical element creates a planar diffraction pattern from the light emitted in a directed manner by the light source, for example in the form of line structures or dot grids, which is superimposed by the module onto the scan plane in order to visualize it.

[0035] A laser diode as the light source is advantageous.

[0036] A further advantage of the diffractive optical element is a transmission or reflection grating.

[0037] Advantageously, the alignment light beams are superimposed onto the scan plane using beam guiding devices.

[0038] The beam guiding means are appropriately formed from deflection means.

[0039] The adjustable beam guidance devices are advantageous.

[0040] By adjusting the settings, in particular by changing the position of the beam guidance devices, the alignment light beams can be precisely superimposed onto the scan plane.

[0041] According to an advantageous embodiment, the visualization module includes a power supply unit.

[0042] The power supply unit is particularly intended for visualization modules that form separate units with respect to the LIDAR scanner.

[0043] The power supply unit is preferably a battery- or accumulator-based power source.

[0044] The invention will be explained below with reference to the drawings. The drawings show: Fig. 1: First embodiment of the arrangement according to the invention. Fig. 2: Components of the visualization module of the arrangement according to Fig. 1. Fig. 3: Second embodiment of the arrangement according to the invention.

[0045] Fig. Figure 1 shows a first embodiment of the arrangement 1 according to the invention with a LIDAR scanner 2 and a visualization module 3 spatially assigned to the LIDAR scanner 2.

[0046] The LiDAR scanner 2 is used to detect objects within a detection area. The components of the LiDAR scanner 2 are housed in a sensor housing 4.

[0047] The LIDAR scanner 2 has a light beam emitting transmitter 6 and a light beam receiving receiver 7. The transmitter 6 emits light beams 5 in the non-visible wavelength range, in particular in the infrared range.

[0048] Furthermore, the LIDAR scanner 2 includes a control and evaluation unit (not shown) which serves to control the transmitter 6 and to evaluate received signals from the receiver 7.

[0049] A beam splitter mirror 8 provides a coaxial beam path for the light rays 5 emitted by the transmitter 6 into the detection area and the light rays 5 reflected back by an object.

[0050] By means of a motor-driven deflecting mirror 9, rotatable about a rotational axis D, the light rays 5 are periodically deflected and guided through an exit window 10 into the detection area. There, due to the deflection movement of the deflecting mirror 9, the light rays 5 are guided in a scan plane 11. The light rays 5 reflected back from an object pass through the exit window 10 and via the deflecting mirror 9 to the receiver 7.

[0051] The entire optical setup of the LIDAR scanner 2 is purely exemplary. A polygonal mirror wheel can also be used instead of the deflecting mirror 9. It is also possible to integrate the transmitter 6 and the receiver 7 in a rotating measuring head, whereby the light rays 5 are guided in the scan plane 11 by the rotation of the measuring head.

[0052] In this case, the LIDAR scanner 2 acts as an area distance sensor, capable of performing angle-resolved distance measurements. Advantageously, these distance measurements are carried out using a pulse-time-of-flight method. For this purpose, the transmitter 6 emits light beams 5 in the form of light pulses. To determine the distance, the time of flight of light pulses from the transmitter 6 to an object and back to the receiver 7 is measured.

[0053] The LIDAR scanner 2 can be a measuring system for determining object distances and / or object geometries. Alternatively, the LIDAR scanner 2 forms a monitoring system that, in particular, detects whether an object is present within a protected area or not.

[0054] The visualization module 3 is used to align the LIDAR scanner 2. The alignment is carried out in such a way that the LIDAR scanner 2 is mounted in a target position on a bracket or the like.

[0055] The visualization module 3 comprises a coherent light-emitting light source 12, which in this case is a laser diode. The laser emits a laser beam in the visible wavelength range. A diffractive optical element 13 is arranged downstream of the light source 12, which generates a diffraction pattern from the laser beam, i.e., planar alignment light beams 14 are generated.

[0056] The diffractive optical element 13 is advantageously a transmission or reflection grating.

[0057] These components are powered by a power supply unit 15 integrated into the visualization module 3. Alternatively, the power supply of the LiDAR scanner 2 can be used. The power supply unit advantageously includes a battery or a rechargeable battery.

[0058] By means of beam guiding means in the form of deflecting means 16a, 16b the alignment light beams 14 are coupled into the scan plane 11, thereby visualizing the scan plane 11.

[0059] Fig. Figure 2 shows the components of the visualization module 3. Arrows indicate the degrees of freedom of movement of these components, which can be used to adjust them so that the alignment light beams 14 are coupled into the scan plane 11.

[0060] In general, the alignment light rays 14 are projected into the scan plane 11, whereby at least partial areas of the scan plane 11 are visualized with the alignment light rays 14.

[0061] By assigning the visualization module 3 to the LIDAR scanner 2 in a fixed spatial position, the visualization module 3 establishes a fixed reference to the base coordinate system of the LIDAR scanner 2.

[0062] The alignment light rays 14 generate a visible image of the horizontal and vertical position of the scan plane 11, relative to the base coordinate system, over a defined angular range.

[0063] Advantageously, a specific optical pattern 17 of the alignment light rays 14 displays the center of symmetry of the scan plane 11 separately.

[0064] Advantageously, the visible alignment light rays 14 can be projected onto a wall element or the like. With these projected alignment light rays 14, the tilt angle (pitch), yaw angle, and roll angle of the scan plane 11 of the LIDAR scanner in its mounting can be visualized.

[0065] Fig. Figure 3 shows a second embodiment of the arrangement according to the invention 1.

[0066] The exemplary embodiment according to Fig. 3 differs from the embodiment shown in the Fig. 1 by the fact that the LIDAR scanner 2 and the visualization module 3 form separate units.

[0067] While the components of the LIDAR scanner 2 are integrated back into the sensor housing 4, the components of the visualization module 3 are housed in a separate housing 18.

[0068] The housing 18 of the visualization module 3 is attached to the sensor housing 4 in a designated position using fastening means (not shown).

[0069] Advantageously, the contours of the housing 18 and the sensor housing 4 are adapted in such a way that the target position of the housing 18 on the sensor housing 4 is specified.

[0070] Advantageously, the visualization module 3 is only temporarily attached to the LIDAR scanner 2, especially during an adjustment process to align the LIDAR scanner 2.

[0071] Furthermore, the function of arrangement 1 corresponds to Fig. 3 of Order 1 according to Fig. 1. Reference symbol list 1. Arrangement 2 LiDAR scanners 3 Visualization module 4 sensor housings 5 light beam 6 channels 7 recipients 8 beam splitter mirrors 9 deflection mirrors 10 exit windows 11 Scan level 12 light sources 13 diffractive optical element 14 Alignment light beam 15 Power supply unit 16a Deflection device 16b Deflection device 17 optical patterns 18 cases D axis of rotation

Claims

Arrangement (1) with a LIDAR scanner (2) for detecting objects in a detection area, wherein the LIDAR scanner (2) has a transmitter (6) and a receiver, wherein non-visible light beams (5) emitted by the transmitter (6) are periodically guided in a scan plane (11) in the detection area, characterized in that the arrangement (1) has a visualization module (3) associated with the LIDAR scanner (2), which emits visible alignment light beams (14) by means of which the scan plane (11) is visualized. Arrangement (1) according to claim 1 , characterized in that the alignment light rays (14) are projected into the scan plane (11). Arrangement (1) according to one of claims 1 or 2, characterized in that at least partial areas of the scan plane (11) are visualized with the alignment light beams (14). Arrangement (1) according to one of claims 1 to 3, characterized in that the visualization module (3) establishes a fixed reference to a basic coordinate system of the LIDAR scanner (2). Arrangement (1) according to claim 4, characterized in that the alignment light rays (14) generate a visible image of the horizontal and vertical position of the scan plane (11) relative to the base coordinate system over a defined angular range. Arrangement (1) according to one of claims 1 to 5, characterized in that the center of the scan plane (11) is visualized with the alignment light rays (14). Arrangement (1) according to one of claims 1 to 6, characterized in that a tilt angle, a yaw angle and a roll angle of the scan plane (11) of the LIDAR scanner are visualized with projected alignment light beams (14). Arrangement (1) according to one of claims 1 to 7, characterized in that the light beams (5) of the LIDAR scanner (2) are guided in several scan planes (11) which are visualized with the alignment light beams (14). Arrangement (1) according to one of claims 1 to 8, characterized in that the visualization module (3) is integrated into the LIDAR scanner (2). Arrangement (1) according to one of claims 1 to 8, characterized in that the visualization module (3) can be attached as a separate unit to the LIDAR scanner (2). Arrangement (1) according to claim 10, characterized in that the visualization module (3) is attached to the LIDAR scanner (2) in a desired position by means of fastening means. Arrangement (1) according to one of claims 10 or 11, characterized in that the visualization module (3) is only temporarily attached to the LIDAR scanner (2). Arrangement (1) according to one of claims 10 to 12, characterized in that the visualization module (3) is integrated in a housing (18). Arrangement (1) according to one of claims 10 to 13, characterized in that the LIDAR scanner (2) is integrated in a sensor housing (4) which is contour-adapted to the housing (18) of the visualization module (3). Arrangement (1) according to one of claims 1 to 14, characterized in that the visualization module (3) has a coherent, visible light emitting light source (12) and a diffractive optical element (13) downstream thereof, wherein a spatial intensity pattern of alignment light rays (14) is generated from the coherent light by the diffractive optical element (13). Arrangement (1) according to claim 15, characterized in that the light source (12) is a laser diode. Arrangement (1) according to one of claims 15 or 16, characterized in that the diffractive optical element (13) is a transmission or reflection grating. Arrangement (1) according to one of claims 15 to 17, characterized in that the alignment light beams (14) are superimposed into the scan plane (11) by means of beam guiding means. Arrangement (1) according to claim 18 , characterized in that the beam guiding means are formed by deflecting means (16a, 16b). Arrangement (1) according to one of claims 18 or 19, characterized in that the beam guiding means are adjustable individually or as a whole. Arrangement (1) according to one of claims 1 to 20, characterized in that the visualization module (3) has a power supply unit (15).

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