Imaging device

Abstract

The starting point of the present invention is an imaging device, in particular a time-of-flight camera, which has: at least one light-emitting element (12a-12c, 14a-14c) which is set up to emit electromagnetic radiation; and at least one image detection element (16a-16c) which is set up to detect the reflected electromagnetic radiation. It is proposed that the imaging device includes at least one beam splitter unit (18a-18c) which is arranged to image at least two different fields of view (20a-20c, 22a-22c) onto the image detection element (16a-16c).

Description

Technical Field

[0001] The present invention relates to an imaging device. Background Art

[0002] An imaging device, in particular a time-of-flight (ToF) camera, has been proposed, which has: at least one light-emitting element configured to emit electromagnetic radiation; and at least one image detection element configured to detect the reflected electromagnetic radiation. Summary of the Invention

[0003] The present invention starts from an imaging device, in particular a time-of-flight camera, which has: at least one light-emitting element configured to emit electromagnetic radiation; and at least one image detection element configured to detect the reflected electromagnetic radiation.

[0004] It is proposed that the imaging device includes at least one beam splitter unit configured to image at least two different fields of view onto the image detection element.

[0005] Preferably, the imaging device is configured to: detect distance information of the surrounding environment of the imaging device, in particular perform distance measurement of an object in the surrounding environment of the imaging device relative to the imaging device. The imaging device is in particular configured to: perform three-dimensional distance measurement, in particular provide a three-dimensional point cloud of information. Preferably, the imaging device is configured as a time-of-flight camera (ToF camera), which can operate in particular in a direct time-of-flight operating mode and / or in an indirect time-of-flight mode. Alternatively, it is conceivable that: the imaging device is configured as a laser rangefinder, in particular a LIDAR device (Light Detection and Ranging device), a RADAR device (Radio Detection and Ranging device), configured as a stereo camera or configured as other imaging devices that are reasonable to those skilled in the art. Preferably, the imaging device is provided for use with a working device, in particular an autonomous working device, and / or for use in a working device, in particular an autonomous working device. "Provided" should in particular be understood as being specifically equipped and / or specifically configured. "Configured" should in particular be understood as being specifically programmed and / or specifically designed. "An object is provided or configured for a specific function" should in particular be understood as: the object satisfies and / or implements the specific function in at least one application and / or operating state.

[0006] Preferably, the at least one light-emitting element is configured as a light-emitting diode (LED), a laser diode, a microwave emitter, or other light-emitting elements that are reasonable for those skilled in the art. Preferably, the at least one light-emitting element is configured to emit monochromatic electromagnetic radiation, especially monochromatic electromagnetic radiation in the infrared spectrum range. The at least one light-emitting element is especially configured to emit electromagnetic radiation flatly, especially in the form of a radiation cone. The light-emitting element is especially configured to emit electromagnetic radiation having an angular distribution of at least 45°, preferably at least 60°, particularly preferably at least 75°, and very particularly preferably at least 90°, especially having an opening angle of at least 45°, preferably at least 60°, particularly preferably at least 75°, and very particularly preferably at least 90° of the radiation cone. Preferably, the at least one light-emitting element is configured to: especially in the direct ToF operating mode, emit electromagnetic radiation pulses; and / or especially in the indirect ToF operating mode, continuously emit electromagnetic radiation having a periodically modulated intensity over time. Preferably, the imaging device includes a plurality of light-emitting elements, especially two light-emitting elements.

[0007] The image detection element is especially configured to: detect the electromagnetic radiation reflected by the object to be detected in the surrounding environment of the imaging device. The at least one light-emitting element is especially configured to emit electromagnetic radiation that is reflected by the object to be detected in the surrounding environment of the imaging device and is especially detected by the image detection element after reflection. The image detection element is especially configured to selectively detect electromagnetic radiation with respect to wavelength, especially configured to detect electromagnetic radiation of at least one wavelength corresponding to at least one wavelength of the electromagnetic radiation emitted by the at least one light-emitting element. Preferably, the image detection element and / or at least one electronic device unit of the imaging device is configured to: detect and / or determine the elapsed time between the emission of electromagnetic radiation by the at least one light-emitting element and the detection of the reflected electromagnetic radiation by the image detection element and / or the phase shift between the reflected electromagnetic radiation and an internal reference signal. The image detection element and / or the electronic device unit is especially configured to: determine, by the imaging device, at least one distance of at least one object in the surrounding environment of the imaging device based on the elapsed time between the emission of electromagnetic radiation by the at least one light-emitting element and the detection of the reflected electromagnetic radiation by the image detection element and / or based on the phase shift between the reflected electromagnetic radiation and the internal reference signal. "Electronic device unit" should especially be understood as a unit having at least one control electronic device. "Control electronic device" should especially be understood as a unit that has a processor unit, a memory unit, and a running program stored in the memory unit.

[0008] Preferably, the image detection element is configured to electronically detect electromagnetic radiation. The image detection element particularly has a plurality of pixels, in particular photodiodes, which are configured to detect electromagnetic radiation. Preferably, the imaging device may have at least one optical system unit, which particularly has at least one focusing lens, and the at least one optical system unit is arranged to deflect, in particular focus, the electromagnetic radiation onto the image detection element.

[0009] The "field of view" should in particular be understood as the area in the surroundings of the imaging device that can be detected by the image detection element and in particular illuminated by the at least one light-emitting element. Preferably, the field of view corresponds to the area in the surroundings of the imaging device that is at most illuminated by the at least one light-emitting element. The beam splitter unit is in particular arranged to deflect, in particular focus, the electromagnetic radiation reflected within at least one field of view onto the image detection element. Preferably, the beam splitter unit is arranged to image at least two fields of view that are at least geometrically differently oriented onto the image detection element. In particular, the central axis of at least one first field of view to be imaged, in particular the central axis of the field-of-view cone of the at least one first field of view to be imaged, runs transversely to, in particular at least substantially perpendicular to, the central axis of at least one second field of view to be imaged, in particular the central axis of the field-of-view cone of the at least one second field of view to be imaged. The term "substantially perpendicular" should in particular define the orientation of a direction relative to a reference direction, where the direction and the reference direction enclose an angle of 90° when observed in the projection plane, and the angle has a maximum deviation of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°. The at least two fields of view in particular have an angular separation of at least 45°, preferably at least 60°, particularly preferably at least 75° and very particularly preferably at least 90°, in particular having an opening angle of the field-of-view cone of at least 45°, preferably at least 60°, particularly preferably at least 75° and very particularly preferably at least 90°. The at least two fields of view may in particular have the same angular separation, in particular the same opening angle of the field-of-view cone, or different angular separations, in particular different opening angles of the field-of-view cone. The at least two fields of view may in particular at least partially overlap.

[0010] Preferably, the at least two fields of view differ at least in the different wavelengths of the electromagnetic radiation reflected within these fields of view. Preferably, the electromagnetic radiation reflected within at least one first field of view has a different wavelength from the electromagnetic radiation reflected within at least one second field of view. The beam splitter unit is in particular configured to selectively transmit and reflect wavelengths. Preferably, the beam splitter unit is arranged to image the at least one first field of view onto the image detection element by transmission of the electromagnetic radiation reflected within the at least one first field of view; and to image the at least one second field of view onto the image detection element by reflection of the electromagnetic radiation reflected within the at least one second field of view. In particular, the beam splitter unit is configured to be transmissive at least for electromagnetic radiation of the wavelength of the electromagnetic radiation reflected within the at least one first field of view and to be reflective at least for electromagnetic radiation of the wavelength of the electromagnetic radiation reflected within the at least one second field of view. Preferably, the beam splitter unit, in particular at least one transmissive and / or reflective surface of the beam splitter unit, extends transversely to the central axis of the at least one first field of view and the at least one second field of view and / or transversely to the main radiation direction of the at least one light-emitting element. In particular, the beam splitter unit, in particular at least one transmissive and / or reflective surface of the beam splitter unit, extends at an angle different from 90°, preferably at an angle of 45°, with respect to the central axis of the at least one first field of view and the at least one second field of view and / or with respect to the main radiation direction of the at least one light-emitting element. The main radiation direction of the at least one light-emitting element in particular corresponds to the central axis of the radiation cone emitted by the at least one light-emitting element. The imaging device can in particular include a plurality of, in particular laterally oriented with respect to one another, beam splitter units for imaging more than two different fields of view onto the image detection element.

[0011] Preferably, the imaging device has at least two light-emitting elements, wherein each of the light-emitting elements is configured to illuminate at least one of the at least two fields of view. Preferably, the at least two light-emitting elements are configured to emit electromagnetic radiation of different wavelengths. Alternatively or additionally, it is conceivable that the imaging device has at least one wavelength-changing unit, exemplarily a frequency-doubling crystal, which is configured to change the wavelength of the electromagnetic radiation emitted by the at least one light-emitting element for illuminating at least one of the at least two fields of view. The image detection element is in particular configured to detect the reflected electromagnetic radiation with an image frequency of at least 5 images per second, preferably with an image frequency of at least 10 images per second, particularly preferably with an image frequency of at least 15 images per second and very particularly preferably with an image frequency of at least 20 images per second. The image detection element is in particular configured to detect the reflected electromagnetic radiation with an image frequency of at most 40 images per second, preferably with an image frequency of at most 35 images per second, particularly preferably with an image frequency of at most 30 images per second and very particularly preferably with an image frequency of at most 25 images per second. Preferably, the image detection element is configured to alternately detect at least one image of the wavelength of the electromagnetic radiation reflected within the at least one first field of view and at least one image of the wavelength of the electromagnetic radiation reflected within the at least one second field of view. In particular, it is conceivable that the image detection element is configured to alternately detect multiple images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view and multiple images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view, for example, alternately detect at least five images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view and at least five images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view or alternately detect at least ten images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view and at least ten images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view.

[0012] With the inventive design of the imaging device, a favorably wide field-of-view coverage can be achieved. Advantageously, a high resolution and a large range of action of the imaging device can be achieved simultaneously. Advantageously, a wide field-of-view coverage can be achieved with only one image detection element. Advantageously, other image detection elements and / or costly optical systems for achieving a wide field-of-view coverage can be dispensed with. Advantageously, an imaging device with few components, in particular with little wear and low manufacturing costs, can be provided.

[0013] It is also proposed that the imaging device includes at least two, in particular the previously mentioned light-emitting elements, which define at least two different fields of view to be imaged by the beam splitter unit by emitting electromagnetic radiation with at least different wavelengths. In particular, at least one first light-emitting element is configured to emit electromagnetic radiation with a first wavelength, in particular at least into the at least one first field of view, for defining the at least one first field of view. In particular, at least one second light-emitting element is configured to emit electromagnetic radiation with a second wavelength that is differently configured from the first wavelength of the electromagnetic radiation emitted by the at least one first light-emitting element, in particular at least into the at least one second field of view, for defining the at least one second field of view. Preferably, the main radiation directions of the at least two light-emitting elements, in particular these light-emitting elements, are oriented relative to the beam splitter unit such that the electromagnetic radiation emitted by the at least two light-emitting elements impinges on the beam splitter unit, in particular is transmitted or reflected by the beam splitter unit, before being reflected by an object in the surroundings of the imaging device. In particular, the at least two light-emitting elements are arranged on mutually opposite sides of the image detection element. Preferably, the beam splitter unit is configured to transmit the electromagnetic radiation of one of the at least two light-emitting elements and to reflect the electromagnetic radiation of the other of the at least two light-emitting elements. Preferably, the main radiation direction of the at least one first light-emitting element is oriented at least substantially parallel to the main radiation direction of the at least one second light-emitting element, in particular before the electromagnetic radiation impinges on the beam splitter unit. "Substantially parallel" should in particular be understood as the orientation of a direction relative to a reference direction, in particular the orientation of a direction relative to a reference direction in a plane, where the direction has a deviation from the reference direction of in particular less than 8°, advantageously less than 5° and particularly advantageously less than 2°.

[0014] Alternatively, it is conceivable that the main radiation direction of the at least one first light-emitting element is oriented transversely to, in particular at least substantially perpendicular to, the main radiation direction of the at least one second light-emitting element. In this alternative embodiment, preferably, at least one of the at least two light-emitting elements is arranged relative to the beam splitter unit, in particular separately from the image detection element, such that the electromagnetic radiation emitted by at least one of the at least two light-emitting elements does not impinge on the beam splitter unit, in particular is not transmitted or reflected by the beam splitter unit, before being reflected by an object in the surroundings of the imaging device. Advantageously, different fields of view can be defined using electromagnetic radiation with different wavelengths.

[0015] It is also proposed that the beam splitter unit is arranged such that the principal radiation directions of the two light-emitting elements, in particular the previously mentioned principal radiation directions, are oriented at an angle to each other, in particular at least substantially perpendicular to each other. Preferably, the beam splitter unit is arranged such that the electromagnetic radiation emitted by the second light-emitting element is deflected, in particular reflected, such that the principal radiation direction of the second light-emitting element is oriented at an angle to, in particular at least substantially perpendicular to, the principal radiation direction of the first light-emitting element, in particular after the beam splitter unit. In particular, the beam splitter unit is arranged to change the principal radiation direction of the second light-emitting element, in particular to rotate the principal radiation direction of the second light-emitting element, preferably by 90°. Preferably, the beam splitter unit is arranged such that the principal radiation direction of the first light-emitting element remains unchanged. In particular, the orientation of the principal radiation directions of the two light-emitting elements relative to each other, in particular after the electromagnetic radiation impinges on the beam splitter unit, depends on the beam splitter unit, in particular the orientation of the transmission and / or reflection surface of the beam splitter unit relative to the principal radiation directions of the two light-emitting elements, in particular the principal radiation directions of the two light-emitting elements before the electromagnetic radiation impinges on the beam splitter unit. Preferably, the principal radiation directions of these light-emitting elements are oriented at least substantially parallel to each other, in particular before the electromagnetic radiation impinges on the beam splitter unit, and the beam splitter unit, in particular the transmission and / or reflection surface of the beam splitter unit, is oriented at an angle to the principal radiation directions of these light-emitting elements, in particular at an angle of 45°. Advantageously, two geometrically differently oriented fields of view can be generated.

[0016] It is also proposed that the beam splitter unit is arranged to transmit at least the electromagnetic radiation of the first wavelength, in particular of the first light-emitting element, in particular of the previously mentioned first light-emitting element, and to reflect at least the electromagnetic radiation of the second wavelength, in particular of the second light-emitting element, in particular of the previously mentioned second light-emitting element. Preferably, the beam splitter unit is arranged to transmit the electromagnetic radiation from at least one specific first spectral range including at least the first wavelength and to reflect the electromagnetic radiation from at least one specific second spectral range including at least the second wavelength. Preferably, the first spectral range and the second spectral range are configured differently from each other, in particular including different wavelengths. In particular, the first wavelength and the second wavelength are configured differently from each other. Advantageously, spectral selection of the electromagnetic radiation can be achieved, thereby enabling spectral-dependent imaging of the field of view.

[0017] It is also proposed that these light-emitting elements are configured to emit different monochromatic electromagnetic radiations. These light-emitting elements are in particular configured to emit electromagnetic radiation of a single wavelength. Preferably, the image detection element is configured to detect the electromagnetic radiation of these two different wavelengths of the light-emitting elements. In particular, the image detection element is constructed and / or configured in such a way that it has no ability to detect electromagnetic radiation having a wavelength different from these two wavelengths of the electromagnetic radiation of the light-emitting elements: to ignore electromagnetic radiation having a wavelength different from these two wavelengths of the electromagnetic radiation of the light-emitting elements. Preferably, the image detection element and / or the electronic device unit of the imaging device is configured to: assign the detected and / or determined information, in particular distance information, to the first field of view or the second field of view according to the wavelength of the detected electromagnetic radiation. Preferably, the image detection element and / or the electronic device unit of the imaging device is configured to: for all imaged fields of view, determine a total image, in particular the entire three-dimensional point cloud of information, according to the detected and / or determined information of each field of view. Advantageously, the influence of interfering radiation can be kept small. Advantageously, the field-of-view assignment of information can be achieved.

[0018] It is also proposed that the beam splitter unit includes at least one beam splitter element, and in order to image at least one, in particular the previously mentioned first field of view, on the side facing away from the image detection element, onto the image detection element, at least one band-pass filter element is arranged on the beam splitter element, and the at least one band-pass filter element is configured to transmit at most electromagnetic radiation within the spectral range around the first wavelength. Preferably, the beam splitter element is configured to transmit electromagnetic radiation, in particular at least within the spectral range around the first wavelength. The band-pass filter element can in particular at least partially form the beam splitter element. Alternatively, it is conceivable that the band-pass filter element is configured as a component fixed to the beam splitter element, a coating of the beam splitter element, or the like. Preferably, the band-pass filter element is configured to transmit the electromagnetic radiation of the first wavelength. In particular, the band-pass filter element is configured to transmit electromagnetic radiation from the spectral range including the first wavelength, in particular the electromagnetic radiation emitted by the first light-emitting element. In particular, the band-pass filter element is configured to absorb and / or reflect electromagnetic radiation from other spectral ranges that are not constructed with the first wavelength. Preferably, the band-pass filter element is configured to absorb and / or reflect the electromagnetic radiation of the second wavelength, in particular the electromagnetic radiation emitted by the second light-emitting element. Advantageously, the transmission of the electromagnetic radiation of the first wavelength can be achieved, thereby achieving beam splitting. Advantageously, the first field of view can be imaged onto the image detection element.

[0019] It is also proposed that in order to image at least one, in particular the previously mentioned second field of view, on the side facing the image detection element, onto the image detection element, at least one reflector element is arranged on the beam splitter element, the at least one reflector element being configured to reflect electromagnetic radiation at most in the spectral range around the second wavelength. In particular, the reflector element can at least partially form the beam splitter element, in particular together with a bandpass filter element at least partially form the beam splitter element. Alternatively, it is conceivable that the reflector element is configured as a component fixed to the beam splitter element, a coating of the beam splitter element or the like. Preferably, the reflector element is configured to reflect electromagnetic radiation of the second wavelength. In particular, the reflector element is configured to reflect electromagnetic radiation from the spectral range including the second wavelength, in particular electromagnetic radiation emitted by the second light-emitting element. In particular, the reflector element is configured to transmit electromagnetic radiation from at least one other spectral range that is configured without the second wavelength. Advantageously, reflection of electromagnetic radiation of the second wavelength can be achieved, thereby enabling beam splitting. Advantageously, the second field of view can be imaged onto the image detection element.

[0020] It is also proposed that the reflector element is configured to transmit electromagnetic radiation outside the spectral range around the second wavelength. In particular, the reflector element is configured to transmit electromagnetic radiation from the entire spectral range outside the spectral range around the second wavelength. Preferably, the reflector element is configured to transmit electromagnetic radiation of the first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element. Advantageously, the influence of interfering radiation in the second field of view can be kept small. Advantageously, interference-free transmission of electromagnetic radiation of the first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element, can be achieved.

[0021] It is also proposed that the beam splitter unit includes at least one beam splitter element configured as a dichroic mirror, which is arranged to transmit electromagnetic radiation having a wavelength smaller than the limiting wavelength between the first wavelength and the second wavelength and to reflect electromagnetic radiation having a wavelength greater than the limiting wavelength in order to image the at least two different fields of view onto the image detection element. In particular, instead of or in addition to the bandpass filter element and / or the reflector element, the beam splitter unit has the at least one beam splitter element configured as a dichroic mirror. Preferably, the beam splitter element serves as an edge filter. Alternatively, it is conceivable that the beam splitter unit has a dichroic mirror, which is configured as a separate component and fixed to the beam splitter element, which is configured as a coating of the beam splitter element, or the like. In particular, the beam splitter element configured as a dichroic mirror is arranged to transmit electromagnetic radiation of the first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element. In particular, the beam splitter element configured as a dichroic mirror is arranged to reflect electromagnetic radiation of the second wavelength, in particular electromagnetic radiation emitted by the second light-emitting element. Advantageously, another way can be provided for imaging the two fields of view onto the image detection element.

[0022] It is also proposed that the beam splitter unit is configured as a beam splitter cube (Strahlteilerwürfel), which is arranged to image the at least two different fields of view onto the image detection element at a viewing angle smaller than the viewing angles of these fields of view. Instead of or in addition to including a bandpass filter element, a reflector element, and / or a beam splitter element configured as a dichroic mirror, the beam splitter unit is in particular configured as a beam splitter cube. Preferably, the beam splitter cube is configured cubically, wherein at least one beam splitter element of the beam splitter unit forms a diagonal plane of the beam splitter cube. The image detection element is in particular arranged on an inner side surface of the beam splitter cube. Preferably, the beam splitter cube is constructed of a material that is transparent at least for electromagnetic radiation of the first wavelength and the second wavelength, exemplarily glass, plastic, or the like. The beam splitter cube can in particular be constructed of two prisms glued together, wherein the joining surfaces of these prisms form the beam splitter element of the beam splitter unit.

[0023] Preferably, the material of the beam splitter cube has a higher refractive index than the surroundings of the imaging device, in particular than air. Preferably, the beam splitter cube is arranged such that the reflected radiation from outside the beam splitter cube is refracted when it enters the beam splitter cube, in particular towards the optical axis. The "viewing angle (Bildwinkel)" of the field of view should in particular be understood as the angular distribution of the field of view on the image detection element, in particular the angle of the field of view cone. The "field of view angle (Sichtfeldwinkel)" of the field of view should in particular be understood as the angular distribution of the field of view outside the beam splitter cube, in particular the angle of the field of view cone, in particular the angular distribution of the actually observed field of view. Preferably, the beam splitter cube is arranged such that, based on the refraction of the reflected electromagnetic radiation, the two fields of view are imaged onto the image detection element at a viewing angle smaller than the field of view angles of these fields of view. In particular, the beam splitter cube is arranged such that the higher the refractive index of the beam splitter cube, the smaller the viewing angle at which the two fields of view are imaged onto the image detection element relative to the field of view angles of these fields of view. Advantageously, a particularly wide field of view can be covered. Advantageously, an imaging device can be provided that is particularly compactly constructed.

[0024] The starting point of the present invention is still an autonomous device, especially an autonomous working device, which has at least one imaging device according to the present invention. The autonomous device is especially configured to perform at least partially autonomous movement, especially at least partially autonomous movement via the ground, in the air, in water, etc. The autonomous device can especially be configured as a vacuum cleaner robot, a lawn mower robot, an autonomous drone, an autonomous land transportation vehicle, especially an autonomous factory workshop transportation vehicle, an autonomous passenger vehicle, a cleaning robot, a pool cleaning robot or other autonomous devices that seem reasonable to those skilled in the art. Preferably, the autonomous device, especially the autonomous device configured as an autonomous working device, is configured to: at least partially autonomously perform at least one task, such as vacuuming the ground, mowing the lawn, cleaning or the like, transporting articles and / or people, monitoring an area or performing other tasks that seem reasonable to those skilled in the art. Preferably, the autonomous device includes at least one electronic device unit, which is established to: control at least one drive unit of the autonomous device, at least one navigation unit of the autonomous device, at least one processing unit of the autonomous device or the like according to at least one signal of the imaging device, especially according to the analysis of at least one signal of the imaging device. In particular, the electronic device unit of the autonomous device is established to: determine at least one position of the autonomous device according to at least one signal of the imaging device; identify and especially avoid at least one obstacle; perform mapping of the surrounding environment of the autonomous device; or the like. Preferably, the electronic device unit of the autonomous device is established for SLAM (simultaneous Localization and Mapping) according to at least one signal of the imaging device. Advantageously, monitoring can be performed within a wide field of view around the autonomous device. Advantageously, a reliable and comfortable autonomous device can be provided.

[0025] In this case, the imaging device according to the present invention / the system according to the present invention and / or the autonomous device according to the present invention should not be limited to the applications and embodiments described above. In particular, the imaging device according to the present invention and / or the autonomous device according to the present invention may have a number different from the number mentioned herein for each element, component and unit in order to meet the working principles described herein. In addition, in the case of the value ranges described in this disclosure, the values within the mentioned limits should also be considered disclosed and can be used arbitrarily. Description of the Drawings

[0026] Other advantages result from the following description of the drawings. Three embodiments of the invention are shown in the drawings. The drawings, the description and the claims contain a large number of combined features. Suitably, a person skilled in the art will also consider these features individually and combine them into reasonable other combinations.

[0027] wherein:

[0028] Figure 1 shows the autonomous device according to the invention in a perspective schematic view;

[0029] Figure 2 shows in a schematic view Figure 1 the imaging device according to the invention of the autonomous device according to the invention in;

[0030] Figure 3 shows in a schematic view an alternative imaging device according to the invention; and

[0031] Figure 4 shows in a schematic view another alternative imaging device according to the invention. Detailed Description

[0032] Figure 1An autonomous device 42a, in particular an autonomous working device, is shown in a perspective schematic view. The autonomous device 42a particularly includes at least one imaging device 10a, in particular a time-of-flight camera. The autonomous device 42a is particularly configured to perform at least partially autonomous travel, in particular via the ground (as exemplarily in the current embodiment), in the air, in water, etc. The autonomous device 42a particularly includes wheels 44a for travel via the ground. The autonomous device 42a can particularly be configured as a vacuum cleaner robot (as exemplarily in the current embodiment), a lawn mower robot, an autonomous drone, an autonomous land transportation vehicle, in particular an autonomous factory floor transportation vehicle, an autonomous passenger vehicle, a cleaning robot, a pool cleaning robot, or other autonomous devices that are reasonable to a person skilled in the art. Preferably, the autonomous device 42a, in particular the autonomous device 42a configured as an autonomous working device, is configured to perform at least one task at least partially autonomously, such as vacuuming the ground (as exemplarily in the current embodiment), mowing the lawn, cleaning, or the like, transporting articles and / or persons, monitoring an area, or performing other tasks that are reasonable to a person skilled in the art. Preferably, the autonomous device 42a includes at least one electronic device unit 46a, which is established to control at least one drive unit of the autonomous device 42a, at least one navigation unit of the autonomous device 42a, at least one processing unit of the autonomous device 42a, or the like (not further shown here) according to at least one signal of the imaging device 10a, in particular according to the analysis of at least one signal of the imaging device 10a. In particular, the electronic device unit 46a of the autonomous device 42a is established to determine at least one position of the autonomous device 42a according to at least one signal of the imaging device 10a; identify and in particular avoid at least one obstacle; perform mapping of the surroundings of the autonomous device 42a; or the like. Preferably, the electronic device unit 46a of the autonomous device 42a is established for SLAM according to at least one signal of the imaging device 10a.

[0033] Figure 2 is shown in a schematic view Figure 1An imaging device 10a of an autonomous device 42a in an embodiment. Preferably, the imaging device 10a comprises: at least one light emitting element 12a, 14a, which is configured to emit electromagnetic radiation; and at least one image detection element 16a, which is configured to detect reflected electromagnetic radiation. Preferably, the imaging device 10a comprises at least one beam splitter unit 18a, which is configured to image at least two different fields of view 20a, 22a onto the image detection element 16a. Preferably, the imaging device 10a is configured to detect distance information of the surroundings of the imaging device 10a, in particular to perform distance measurements of objects in the surroundings of the imaging device 10a relative to the imaging device 10a. The imaging device 10a is particularly configured to perform three-dimensional distance measurements, in particular to provide a three-dimensional point cloud of information. Preferably, the imaging device 10a is configured as a ToF camera, which can be operated in a direct time-of-flight operating mode and / or in an indirect time-of-flight mode. Alternatively, it is conceivable that the imaging device 10a is designed as a laser rangefinder, in particular a LIDAR (laser radar) device, a RADAR (radar) device, as a stereo camera or as another imaging device that appears reasonable to a person skilled in the art. Preferably, the imaging device 10a is provided for use with and / or in a working device, in particular a device 42a designed as an autonomous working device.

[0034] Preferably, the imaging device 10a includes a plurality of light-emitting elements 12a, 14a, in particular two light-emitting elements 12a, 14a, as exemplarily in the present embodiment. Preferably, the light-emitting elements 12a, 14a are configured as light-emitting diodes, laser diodes (as exemplarily in the present embodiment), microwave transmitters or other light-emitting elements that appear reasonable to a person skilled in the art. Preferably, the light-emitting elements 12a, 14a are configured to emit monochromatic electromagnetic radiation, in particular monochromatic electromagnetic radiation in the infrared spectrum. The light-emitting elements 12a, 14a are in particular configured to emit electromagnetic radiation in a flat manner, in particular electromagnetic radiation in the form of a radiation cone. The light-emitting elements 12a, 14a are in particular configured to emit electromagnetic radiation having an angular distribution of at least 45°, preferably at least 60°, particularly preferably at least 75° and very particularly preferably at least 90°, in particular having a radiation cone with an aperture angle of at least 45°, preferably at least 60°, particularly preferably at least 75° and very particularly preferably at least 90°. For the sake of clarity, in Figure 2Only the main radiation directions 24a, 26a of the light-emitting elements 12a, 14a are shown. Preferably, these light-emitting elements 12a, 14a are configured to emit electromagnetic radiation pulses, especially in the direct ToF operating mode; and / or to continuously emit electromagnetic radiation with intensity modulated periodically over time, especially in the indirect ToF operating mode.

[0035] The image detection element 16a is especially configured to detect electromagnetic radiation reflected by an object to be detected in the surroundings of the imaging device 10a. These light-emitting elements 12a, 14a are especially configured to emit electromagnetic radiation that is reflected by an object to be detected in the surroundings of the imaging device 10a and is especially detected by the image detection element 16a after reflection. The image detection element 16a is especially configured to selectively detect electromagnetic radiation with respect to wavelength, especially configured to detect electromagnetic radiation of at least one wavelength corresponding to at least one wavelength of the electromagnetic radiation emitted by these light-emitting elements 12a, 14a. Preferably, the image detection element 16a and / or at least one electronic device unit (not further shown here) of the imaging device 10a is configured to detect and / or determine the elapsed time between the emission of electromagnetic radiation by these light-emitting elements 12a, 14a and the detection of the reflected electromagnetic radiation by the image detection element 16a and / or the phase shift between the reflected electromagnetic radiation and an internal reference signal. The image detection element 16a and / or the electronic device unit is especially configured to determine, by the imaging device 10a, at least one distance of at least one object in the surroundings of the imaging device 10a based on the elapsed time between the emission of electromagnetic radiation by these light-emitting elements 12a, 14a and the detection of the reflected electromagnetic radiation by the image detection element 16a and / or based on the phase shift between the reflected electromagnetic radiation and the internal reference signal.

[0036] Preferably, the image detection element 16a is configured to electronically detect electromagnetic radiation. The image detection element 16a especially has a plurality of pixels, especially photodiodes, which are configured to detect electromagnetic radiation (not shown here). Preferably, the imaging device 10a may have at least one optical system unit, which especially has at least one focusing lens, and the at least one optical system unit is arranged to deflect, especially focus, the electromagnetic radiation onto the image detection element 16a (not shown here).

[0037] Preferably, the first field of view 20a corresponds to the area in the surroundings of the imaging device 10a that is illuminated at most by the first light-emitting element 12a. Preferably, the second field of view 22a corresponds to the area in the surroundings of the imaging device 10a that is illuminated at most by the second light-emitting element 14a. In particular, Figure 2, the fields of view 20a, 22a, in particular the field of view cones of the fields of view 20a, 22a, are shown two-dimensionally for the sake of clarity. The beam splitter unit 18a is in particular configured to deflect, in particular focus, electromagnetic radiation reflected within these fields of view 20a, 22a onto the image detection element 16a. Preferably, the beam splitter unit 18a is configured to image at least two fields of view 20a, 22a of at least geometrically different orientation onto the image detection element 16a. In particular, a central axis 48a of at least one first field of view 20a to be imaged, in particular the central axis 48a of the field of view cone of the at least one first field of view 20a to be imaged, extends transversely, in particular at least substantially perpendicularly, to a central axis 50a of at least one second field of view 22a to be imaged, in particular the central axis 50a of the field of view cone of the at least one second field of view 22a to be imaged. The at least two fields of view 20a, 22a have in particular an angular division of at least 45°, preferably at least 60° (as exemplarily in the present exemplary embodiment), particularly preferably at least 75° and very particularly preferably at least 90°, in particular an opening angle 52a, 54a of the field of view cone of at least 45°, preferably at least 60° (as exemplarily in the present exemplary embodiment), particularly preferably at least 75° and very particularly preferably at least 90°. The at least two fields of view 20a, 22a may in particular have the same angular division, in particular the same opening angle 52a, 54a of the field of view cone (as exemplarily in the present exemplary embodiment), or different angular divisions, in particular different opening angles 52a, 54a of the field of view cone. The at least two fields of view 20a, 22a may in particular at least partially overlap.

[0038] Preferably, the at least two fields of view 20a, 22a differ at least in the different wavelengths of the electromagnetic radiation reflected within these fields of view 20a, 22a. Preferably, the electromagnetic radiation reflected within at least one first field of view 20a has a different wavelength from the electromagnetic radiation reflected within at least one second field of view 22a. The beam splitter unit 18a is in particular constructed to selectively transmit and reflect wavelengths. Preferably, the beam splitter unit 18a is arranged to image the at least one first field of view 20a onto the image detection element 16a by transmission of the electromagnetic radiation reflected within the at least one first field of view 20a; and to image the at least one second field of view 22a onto the image detection element 16a by reflection of the electromagnetic radiation reflected within the at least one second field of view 22a. In particular, the beam splitter unit 18a is constructed to be transmissive at least for the wavelength of the electromagnetic radiation reflected within the at least one first field of view 20a and to be reflective at least for the wavelength of the electromagnetic radiation reflected within the at least one second field of view 22a. Preferably, at least one transmissive and / or reflective surface 56a of the beam splitter unit 18a, in particular of the beam splitter unit 18a, extends transversely to the central axes 48a, 50a of the at least one first field of view 20a and the at least one second field of view 22a and / or transversely to the main radiation directions 24a, 26a of these light-emitting elements 12a, 14a. In particular, at least one transmissive and / or reflective surface 56a of the beam splitter unit 18a, in particular of the beam splitter unit 18a, extends at an angle different from 90°, preferably at an angle of 45°, with respect to the central axes 48a, 50a of the at least one first field of view 20a and the at least one second field of view 22a and / or with respect to the main radiation directions 24a, 26a of these light-emitting elements 12a, 14a. The main radiation directions 24a, 26a of these light-emitting elements 12a, 14a in particular correspond to the central axes of the radiation cones emitted by these light-emitting elements 12a, 14a. In an alternative design, the imaging device 10a may in particular include a plurality of, in particular mutually transversely oriented, beam splitter units 18a for imaging more than two different fields of view 20a, 22a onto the image detection element 16a.

[0039] Preferably, the imaging device 10a has at least two light-emitting elements 12a, 14a, wherein each of these light-emitting elements 12a, 14a is provided for illuminating at least one of the at least two fields of view 20a, 22a. In the present embodiment, by way of example, the first light-emitting element 12a is provided for illuminating the first field of view 20a, and the second light-emitting element 14a is provided for illuminating the second field of view 22a. Preferably, the at least two light-emitting elements 12a, 14a are provided to emit electromagnetic radiation of different wavelengths. Alternatively or additionally, it is conceivable that the imaging device 10a has at least one wavelength-changing unit, by way of example a frequency-doubling crystal, which is arranged to change the wavelength of the electromagnetic radiation emitted by at least one of these light-emitting elements 12a, 14a for illuminating at least one of the at least two fields of view 20a, 22a. The image detection element 16a is in particular provided to detect the reflected electromagnetic radiation with an image frequency of at least 5 images per second, preferably with an image frequency of at least 10 images per second, particularly preferably with an image frequency of at least 15 images per second and very particularly preferably with an image frequency of at least 20 images per second. The image detection element 16a is in particular provided to detect the reflected electromagnetic radiation with an image frequency of at most 40 images per second, preferably with an image frequency of at most 35 images per second, particularly preferably with an image frequency of at most 30 images per second and very particularly preferably with an image frequency of at most 25 images per second. Preferably, the image detection element 16a is provided to alternately detect at least one image of the wavelength of the electromagnetic radiation reflected within the at least one first field of view 20a and to alternately detect at least one image of the wavelength of the electromagnetic radiation reflected within the at least one second field of view 22a. In particular, it is conceivable that the image detection element 16a is provided to alternately detect a plurality of images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view 20a and to alternately detect a plurality of images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view 22a, for example alternately detecting at least five images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view 20a and alternately detecting at least five images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view 22a or alternately detecting at least ten images of the wavelength of the electromagnetic radiation reflected within the at least one first field of view 20a and alternately detecting at least ten images of the wavelength of the electromagnetic radiation reflected within the at least one second field of view 22a.

[0040] Preferably, the imaging device 10a includes at least two, in particular the aforementioned light-emitting elements 12a, 14a, which define at least two different fields of view 20a, 22a to be imaged by the beam splitter unit 18a by emitting electromagnetic radiation of at least different wavelengths. In particular, the first light-emitting element 12a is configured to emit electromagnetic radiation of a first wavelength, in particular at least into the at least one first field of view 20a, for defining the at least one first field of view 20a. In particular, the second light-emitting element 14a is configured to emit electromagnetic radiation of a second wavelength, which is differently configured from the first wavelength of the electromagnetic radiation emitted by the at least one first light-emitting element 12a, in particular at least into the at least one second field of view 22a, for defining the at least one second field of view 22a. Preferably, the main radiation directions 24a, 26a of the at least two light-emitting elements 12a, 14a, in particular of these light-emitting elements 12a, 14a, are oriented relative to the beam splitter unit 18a such that the electromagnetic radiation emitted by the at least two light-emitting elements 12a, 14a impinges on the beam splitter unit 18a, in particular before being reflected on an object in the surroundings of the imaging device 10a, and is in particular transmitted or reflected by the beam splitter unit 18a. In particular, the at least two light-emitting elements 12a, 14a are arranged on opposite sides of the image detection element 16a. Preferably, the beam splitter unit 18a is configured to transmit the electromagnetic radiation of one of the at least two light-emitting elements 12a, 14a, and in the present exemplary embodiment, to transmit the electromagnetic radiation of the first light-emitting element 12a; and to reflect the electromagnetic radiation of the other of the at least two light-emitting elements 12a, 14a, and in the present exemplary embodiment, to reflect the electromagnetic radiation of the second light-emitting element 14a. Preferably, the main radiation direction 24a of the at least one first light-emitting element 12a is oriented at least substantially parallel to the main radiation direction 26a of the at least one second light-emitting element 14a, in particular before the electromagnetic radiation impinges on the beam splitter unit 18a.

[0041] Alternatively, it is conceivable that the main radiation direction 24a of the at least one first light-emitting element 12a is oriented transversely to, in particular at least substantially perpendicular to, the main radiation direction 26a of the at least one second light-emitting element 14a. In this alternative embodiment, preferably, at least one of the at least two light-emitting elements 12a, 14a is arranged relative to the beam splitter unit 18a, in particular separately from the image detection element 16a, such that the electromagnetic radiation emitted by at least one of the at least two light-emitting elements 12a, 14a does not impinge on the beam splitter unit 18a, in particular before being reflected on an object in the surroundings of the imaging device 10a, and is in particular not transmitted or reflected by the beam splitter unit 18a.

[0042] Preferably, the beam splitter unit 18a is arranged such that the main radiation directions 24a, 26a of the two light-emitting elements 12a, 14a are oriented at an angle to each other, in particular at least substantially perpendicular to each other. Preferably, the beam splitter unit 18a is arranged such that the electromagnetic radiation emitted by the second light-emitting element 14a is deflected, in particular reflected, such that the main radiation direction 26a of the second light-emitting element 14a is oriented at an angle to, in particular at least substantially perpendicular to, the main radiation direction 24a of the first light-emitting element 12a, in particular after the beam splitter unit 18a. In particular, the beam splitter unit 18a is arranged to change the main radiation direction 26a of the second light-emitting element 14a, in particular to rotate the main radiation direction 26a of the second light-emitting element 14a, preferably by 90°. Preferably, the beam splitter unit 18a is arranged such that the main radiation direction 24a of the first light-emitting element 12a remains unchanged. In particular, the orientation between the main radiation directions 24a, 26a of the two light-emitting elements 12a, 14a depends on the beam splitter unit 18a, in particular on the transmission and / or reflection surface 56a of the beam splitter unit 18a, relative to the main radiation directions 24a, 26a of the two light-emitting elements 12a, 14a, in particular before the electromagnetic radiation impinges on the beam splitter unit 18a. Preferably, the main radiation directions 24a, 26a of these light-emitting elements 12a, 14a are oriented at least substantially parallel to each other, in particular before the electromagnetic radiation impinges on the beam splitter unit 18a, and the beam splitter unit 18a, in particular the transmission and / or reflection surface 56a of the beam splitter unit 18a, is oriented at an angle to the main radiation directions 24a, 26a of these light-emitting elements 12a, 14a, in particular at an angle of 45°.

[0043] Preferably, the beam splitter unit 18a is arranged to transmit at least the first wavelength, in particular the electromagnetic radiation of the first wavelength of the first light-emitting element 12a, in particular the first light-emitting element 12a mentioned above, and to reflect at least the second wavelength, in particular the electromagnetic radiation of the second wavelength of the second light-emitting element 14a, in particular the second light-emitting element 14a mentioned above. Preferably, the beam splitter unit 18a is arranged to transmit the electromagnetic radiation from at least one specific first spectral range including at least the first wavelength and to reflect the electromagnetic radiation from at least one specific second spectral range including at least the second wavelength. Preferably, the first spectral range and the second spectral range are constructed differently from each other, in particular including different wavelengths. In particular, the first wavelength and the second wavelength are constructed differently from each other.

[0044] Preferably, the light-emitting elements 12a, 14a are configured to emit different monochromatic electromagnetic radiations. The light-emitting elements 12a, 14a are particularly configured to emit electromagnetic radiations of a single wavelength. Preferably, the image detection element 16a is configured to detect the electromagnetic radiations of the light-emitting elements 12a, 14a having these two different wavelengths. In particular, the image detection element 16a is constructed and / or configured to ignore electromagnetic radiations having wavelengths different from the two wavelengths of the electromagnetic radiations of the light-emitting elements 12a, 14a in a manner that does not have the ability to detect electromagnetic radiations having wavelengths different from the two wavelengths of the electromagnetic radiations of the light-emitting elements 12a, 14a. Preferably, the image detection element 16a and / or the electronic device unit of the imaging device 10a are configured to assign the detected and / or determined information, in particular the distance information, to the first field of view 20a or the second field of view 22a according to the wavelength of the detected electromagnetic radiation. Preferably, the image detection element 16a and / or the electronic device unit of the imaging device 10a are configured to determine, for all imaged fields of view 20a, 22a, an overall image, in particular an entire three-dimensional point cloud of information, based on the detected and / or determined information of the individual fields of view 20a, 22a.

[0045] Preferably, the beam splitter unit 18a includes at least one beam splitter element 28a, on which at least one band pass filter element 30a is arranged in order to image at least one, in particular the previously mentioned first field of view 20a on the side facing away from the image detection element 16a, and the at least one band pass filter element is configured to transmit electromagnetic radiation in a spectral range around the first wavelength at most. Preferably, the beam splitter element 28a is configured to transmit electromagnetic radiation, in particular electromagnetic radiation in a spectral range around the first wavelength at least. In particular, the band pass filter element 30a can at least partially construct the beam splitter element 28a, as exemplarily in the current embodiment. Alternatively, it is conceivable that the band pass filter element 30a is configured as a component fixed to the beam splitter element 28a, a coating of the beam splitter element 28a, or the like. Preferably, the band pass filter element 30a is configured to transmit electromagnetic radiation of the first wavelength. In particular, the bandpass filter element 30a is configured to transmit electromagnetic radiation from a spectral range including a first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element 12a. In particular, the bandpass filter element 30a is configured to absorb and / or reflect electromagnetic radiation from other spectral ranges that are configured without the first wavelength. Preferably, the bandpass filter element 30a is configured to absorb and / or reflect electromagnetic radiation of a second wavelength, in particular electromagnetic radiation emitted by the second light-emitting element 14a.

[0046] Preferably, in order to image at least one, in particular the previously mentioned second field of view 22a, onto the image detection element 16a on the side facing the image detection element 16a, at least one reflector element 32a is arranged on the beam splitter element 28a, and the at least one reflector element is configured to reflect electromagnetic radiation at most in a spectral range around the second wavelength. In particular, the reflector element 32a can at least partially form the beam splitter element 28a, in particular jointly with the band-pass filter element 30a at least partially form the beam splitter element 28a, as exemplarily in the current embodiment. Alternatively, it is conceivable that the reflector element 32a is configured as a member fixed to the beam splitter element 28a, a coating of the beam splitter element 28a, or the like. Preferably, the reflector element 32a is configured to reflect electromagnetic radiation of the second wavelength. In particular, the reflector element 32a is configured to reflect electromagnetic radiation from a spectral range including the second wavelength, in particular electromagnetic radiation emitted by the second light-emitting element 14a. In particular, the reflector element 32a is configured to transmit electromagnetic radiation from at least one other spectral range that is constructed without the second wavelength.

[0047] Preferably, the reflector element 32a is configured to transmit electromagnetic radiation outside the spectral range around the second wavelength. In particular, the reflector element 32a is configured to transmit electromagnetic radiation from the entire spectral range outside the spectral range around the second wavelength. Preferably, the reflector element 32a is configured to transmit electromagnetic radiation of the first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element 12a.

[0048] In Figure 3 and 4 two other embodiments of the present invention are shown. The subsequent description and drawings are basically limited to the differences between these embodiments, and in principle, reference can also be made to other embodiments, in particular Figure 1 and 2 with respect to the identically denoted components, in particular with respect to the components having the same reference numerals. For the purpose of differentiating these embodiments, after the reference numerals of the embodiments in Figure 1 and 2 the letter a is placed. In the embodiments of Figure 3 and 4 , the letter a is replaced by the letters b and c.

[0049] Figure 3An alternative imaging device 10b, in particular a ToF camera, is shown schematically. Preferably, the imaging device 10b comprises: two light-emitting elements 12b, 14b, which are configured to emit electromagnetic radiation; an image detection element 16b, which is configured to detect the reflected electromagnetic radiation; and a beam splitter unit 18b, which is arranged to image at least two different fields of view 20b, 22b onto the image detection element 16b. Preferably, the beam splitter unit 18b comprises at least one beam splitter element 28b configured as a dichroic mirror, which is arranged to transmit electromagnetic radiation having a wavelength smaller than a limit wavelength between a first wavelength and a second wavelength and to reflect electromagnetic radiation having a wavelength larger than the limit wavelength in order to image the at least two different fields of view 20b, 22b onto the image detection element 16b. Preferably, the beam splitter element 28b serves as an edge filter. Alternatively, it is conceivable that the beam splitter unit 18b has a dichroic mirror, which is configured as a separate component and fixed to the beam splitter element 28b, which is configured as a coating of the beam splitter element 28b, or the like. In particular, the beam splitter element 28b configured as a dichroic mirror is arranged to transmit electromagnetic radiation of a first wavelength, in particular electromagnetic radiation emitted by the first light-emitting element 12b. In particular, the beam splitter element 28b configured as a dichroic mirror is arranged to reflect electromagnetic radiation of a second wavelength, in particular electromagnetic radiation emitted by the second light-emitting element 14b.

[0050] Figure 4Another alternative imaging device 10c, in particular a ToF camera, is shown schematically. Preferably, the imaging device 10c includes: two light-emitting elements 12c, 14c, which are configured to emit electromagnetic radiation; an image detection element 16c, which is configured to detect the reflected electromagnetic radiation; and a beam splitter unit 18c, which is arranged to image at least two different fields of view 20c, 22c onto the image detection element 16c. Preferably, the beam splitter unit 18c is configured as a beam splitter cube, which is arranged to: image the at least two different fields of view 20c, 22c onto the image detection element 16c at a smaller viewing angle 34c, 36c than the viewing angles 38c, 40c of these fields of view 20c, 22c. Preferably, the beam splitter cube is configured cubically, wherein at least one beam splitter element 28c of the beam splitter unit 18c forms a diagonal plane of the beam splitter cube. The image detection element 16c is arranged, in particular, on an inner side 58c of the beam splitter cube. Preferably, the beam splitter cube is constructed of a material that is transparent at least for electromagnetic radiation of a first wavelength, in particular for electromagnetic radiation emitted by the first light-emitting element 12c, and at least for electromagnetic radiation of a second wavelength, in particular for electromagnetic radiation emitted by the second light-emitting element 14c, exemplarily glass, plastic or a material of this kind. The beam splitter cube can in particular be constructed of two prisms 60c, 62c glued together, wherein a connecting surface 64c of these prisms 60c, 62c forms the beam splitter element 28c of the beam splitter unit 18c. Preferably, the light-emitting elements 12c, 14c are arranged outside the beam splitter cube. The light-emitting elements 12c, 14c have, in particular, main radiation directions 24c, 26c that are laterally, in particular perpendicular to each other.

[0051] Preferably, the material of the beam splitter cube has a higher refractive index than the surroundings of the imaging device 10c, in particular than air. Preferably, the beam splitter cube is arranged to: refract the reflected radiation coming from outside the beam splitter cube, in particular towards the optical axis 66c, when it enters the beam splitter cube. Preferably, the beam splitter cube is arranged to: image the two fields of view 20c, 22c onto the image detection element 16c at a smaller viewing angle 34c, 36c than the viewing angles 38c, 40c of these fields of view 20c, 22c, based on the refraction of the reflected electromagnetic radiation. In particular, the beam splitter cube is arranged to: the higher the refractive index of the beam splitter cube, the smaller the viewing angle 34c, 36c at which the two fields of view 20c, 22c are imaged onto the image detection element 16c relative to the viewing angles 38c, 40c of these fields of view 20c, 22c.

Claims

1. An imaging device, the imaging device having: at least one light-emitting element configured to emit electromagnetic radiation of a first wavelength and electromagnetic radiation of a second wavelength; and at least one image detection element (16a - 16c) configured to alternately detect at least one image of the first wavelength of the electromagnetic radiation reflected within at least one first field of view and to detect at least one image of the second wavelength of the electromagnetic radiation reflected within at least one second field of view, respectively, characterized in that At least one beam splitter unit (18a - 18c), the at least one beam splitter unit being arranged to image the at least one first field of view and the at least one second field of view onto the image detection elements (16a - 16c), wherein the beam splitter unit (18a - 18c) is arranged to transmit at least the electromagnetic radiation of the first wavelength and reflect at least the electromagnetic radiation of the second wavelength, wherein the imaging device is configured to perform distance measurement.

2. The imaging device according to claim 1, characterized in that, The imaging device is a time - of - flight camera.

3. The imaging device according to claim 1, wherein The electromagnetic radiation of the first wavelength is the electromagnetic radiation of the first wavelength of the first light - emitting element among the at least one light - emitting element.

4. The imaging device according to claim 1, characterized in that, The electromagnetic radiation of the second wavelength is the electromagnetic radiation of the second wavelength of the second light - emitting element among the at least one light - emitting element.

5. The imaging device according to claim 1, wherein At least two light - emitting elements, the at least two light - emitting elements defining at least two different fields of view to be imaged by the beam splitter unit (18a - 18c) by emitting at least electromagnetic radiation of different wavelengths.

6. The imaging device according to claim 5, wherein The beam splitter unit is arranged to orient the main radiation directions of the two light - emitting elements at an angle to each other.

7. The imaging device according to claim 6, characterized in that, The beam splitter unit is arranged to orient the main radiation directions of the two light - emitting elements at least substantially perpendicular to each other.

8. The imaging device according to claim 5, characterized in that, The light - emitting elements are configured to emit different monochromatic electromagnetic radiations.

9. The imaging device according to any one of claims 1 to 8, characterized in that, The beam splitter unit includes at least one beam splitter element, and in order to image at least one first field of view onto the image detection element on the side facing away from the image detection element, at least one band - pass filter element is arranged on the beam splitter element, the at least one band - pass filter element being arranged to transmit at most the electromagnetic radiation within the spectral range around the first wavelength.

10. The imaging device according to claim 9, characterized in that, In order to image at least one second field of view onto the image detection element on the side facing the image detection element, at least one reflector element is arranged on the beam splitter element, the at least one reflector element being arranged to reflect at most the electromagnetic radiation within the spectral range around the second wavelength.

11. The imaging device according to claim 10, wherein, The reflector element is arranged to transmit the electromagnetic radiation outside the spectral range around the second wavelength.

12. The imaging device according to any one of claims 1 to 8, characterized in that, The beam splitter unit includes at least one beam splitter element configured as a dichroic mirror, and in order to image at least two different fields of view onto the image detection element, the beam splitter element is arranged to transmit the electromagnetic radiation having a wavelength smaller than the limiting wavelength between the first wavelength and the second wavelength and reflect the electromagnetic radiation having a wavelength larger than the limiting wavelength.

13. The imaging device according to any one of claims 1 to 8, characterized in that, The beam splitter unit is configured as a beam splitter cube, the beam splitter cube being arranged to image at least two different fields of view onto the image detection element at a viewing angle smaller than the viewing angle of the fields of view.

14. A device having at least one imaging device according to any one of claims 1 to 13.

15. The device according to claim 14, characterized in that, The device is an autonomous device.

16. The device according to claim 14 or 15, characterized in that, The device is an autonomous working device.

Images