Operation method and control unit for laser radar system, laser radar system and device

Abstract

The present invention relates to an operating method for a laser radar system, in particular for a compressed sensing type, in which method (i) primary light (57) is emitted in an unstructured manner into a field of view (50) on the transmitter side for illuminating the field of view, (ii) light (ii-1) from the field of view (50) is received as secondary light (58) on the receiver side, (ii-2) is converted into restructured secondary light (58r, 58t) by light structuring with the aid of a predetermined, fixed, temporally constant matrix pattern (80), the restructured secondary light having at least one matrix light pattern (90r, 90t) consisting of column patterns (91r, 91t), and (ii-3) for detection, the column patterns (91r, 91t) are imaged column by column onto assigned common detector elements (22r, 22t) of a detector assembly (20, 20t, 20r) and detected as a whole.

Description

Technical Field

[0001] The invention relates to a control unit for a laser radar system and an operating method for a laser radar system, a laser radar system itself and a working device which is designed to have a laser radar system and is in particular designed as a vehicle. Background Art

[0002] For the purpose of environmental recognition of working equipment and in particular vehicles, so-called LiDAR systems (Light Detection and Ranging) are increasingly being used, which are designed to impinge on a field of view with light or infrared radiation and to detect and evaluate the radiation reflected from the field of view in order to evaluate the field of view and to detect objects contained therein. In order to improve LiDAR systems and LiDAR methods, i.e. to reduce the power required for the light source while reducing the amount of data and simplifying the detection, to increase eye safety and to achieve the most dynamically selectable resolution, the concept of so-called Linear Flash LiDARs and Compressed Sensing LiDARs with light structuring of the primary light emitted into the field of view are being combined with one another. Summary of the invention

[0003] The operating method according to the invention for a laser radar system, in particular a laser radar system of the compressed sensing type, has the following advantages: Due to the use of a fixed predetermined configuration for light structuring, it is possible to dispense with the light modulation which requires complex control by means of a correspondingly complex light modulator. This is achieved according to the invention in the following way: an operating method for a laser radar system, in particular a laser radar system of the compressed sensing type, is proposed, in which the

[0004] (i) emitting primary light in an unstructured manner into the field of view at the transmitter side to illuminate the field of view,

[0005] (ii) light from the field of view at the receiver side

[0006] (ii-1) is received as secondary light,

[0007] (ii-2) by means of light structuring with the aid of a predetermined, fixed, temporally constant matrix pattern into restructured secondary light, the restructured secondary light having at least one matrix light pattern consisting of column patterns,

[0008] (ii-3) For detection, they are imaged column by column in a column pattern onto an associated common detector element of a detector arrangement and detected as a whole.

[0009] According to the invention, by means of the measures described, it is possible to dispense with the provision of a light modulator with corresponding complexity, which must be arranged in a conventional manner and which must be operated in a complex manner.

[0010] The dependent claims reveal preferred embodiments of the invention.

[0011] In an advantageous embodiment of the operating method according to the invention, the underlying matrix-like pattern is provided by means of a pattern generator and in particular by means of a predefined, fixed, temporally constant photomask.

[0012] The verification and evaluation of the secondary light can be realized in different ways.

[0013] In one embodiment of the operating method according to the invention, the received secondary light can be restructured in transmission and / or reflection to a matrix-like pattern underlying it and in particular to a pattern generator providing the pattern to form restructured secondary light.

[0014] In particular, it is conceivable here to detect transmitted, restructured secondary light with a first detector arrangement having a first detector element, which is configured to have a transmitted first matrix light pattern having a first column pattern.

[0015] Additionally or alternatively, it is conceivable to detect reflected, restructured secondary light having a reflected second matrix light pattern having a second column pattern by means of a second detector arrangement having second detector elements.

[0016] Furthermore, additionally or alternatively, the reflected and transmitted light patterns can be evaluated and analysed after detection as mutually complementary light patterns individually and / or in combination with one another.

[0017] When illuminating the field of view with the aid of primary light, different approaches are also applicable.

[0018] In one embodiment of the operating method according to the invention, the illumination of the field of view with the primary light is achieved by linear illumination with a substantially linear light field or linear light field of the primary light, in particular by oscillating the light field to sample the field of view.

[0019] The swiveling can be achieved by swiveling the light source and / or the deflection optical system.

[0020] Alternatively or additionally, the illumination of the field of view by means of primary light can be effected by means of surface illumination with a planar light field or a flat light field.

[0021] In the case of both principles, the illumination can each be effected in a continuous manner and / or according to the flash principle.

[0022] According to another embodiment of the operating method according to the invention, it is particularly advantageous that when irradiating the field of view, the underlying pattern generator, the corresponding detector assembly and / or the underlying primary optics are swiveled in a coordinated, controlled and / or regulated manner on the receiver side for the distribution between the column patterns of the underlying pattern and the corresponding column patterns imaged onto the detector elements of the corresponding detector assembly. It is thus possible in a controlled manner to image each original image point in the field of view in association with a plurality of the underlying patterns and in particular with all the patterns, in order to thereby obtain complete spatial information for each original image point in the field of view.

[0023] In a preferred embodiment of the method according to the invention, pairs of different column patterns are generated and / or used as the basis for a matrix-like pattern.

[0024] In particular, a clear and unique assignment of the depth information in the field of view to the individual detector elements used is determined here by the continuous use and / or imaging with the aid of the column pattern, in particular all column patterns.

[0025] In an alternative or additional exemplary embodiment, a propagation time histogram of the received light intensity is ascertained for each pixel in the column pattern and the depth information for the respective column pattern is determined therefrom.

[0026] For reconstructing depth information, it is particularly advantageous if the plurality of predefined column patterns used for light structuring have or form a complete set of column patterns and in particular have or form a complete orthogonal basis.

[0027] However, it is often also advantageous and sufficient if, instead of this, a plurality of predefined column patterns for light structuring only comprise or form part of a complete set of column patterns, in particular in a proportion of approximately 25%, and in particular only comprise or form part of a complete orthogonal basis. With this measure, the outlay in constructing and providing the column patterns is reduced, and more precisely there are no significant restrictions in the reconstruction of the depth information.

[0028] According to a further alternative and advantageous embodiment of the method according to the invention, a plurality of predefined primary column patterns for light structuring have a uniform or different resolution along the column direction.

[0029] Furthermore, the invention relates to a control unit for a lidar system, which is configured to start, execute, be operable, regulate and / or control an embodiment of an operating method according to the invention in a based lidar system.

[0030] In addition, the present invention also relates to a lidar system itself, which is constructed to have a transmitter unit and a receiver unit, wherein the transmitter unit is used to generate primary light and emit the primary light into a field of view for illuminating the field of view, and the receiver unit is used to receive, detect and analyze secondary light from the field of view.

[0031] The proposed lidar system is provided to be used with an operating method according to the invention and / or to be controlled or regulated by such an operating method.

[0032] For this purpose, the lidar system is advantageously designed with a control unit configured according to the invention, which, for its part, is provided for controlling the operation of a transmitter unit and / or a receiver unit and, in particular, for generating and / or emitting and / or detecting and / or evaluating primary light to be emitted and secondary light received according to a compressed sensing method.

[0033] In a preferred embodiment of the lidar system according to the present invention, the receiver unit has an optical pattern generator, which is configured to record (aufnehmen) secondary light to be received and restructure the secondary light to be received according to a matrix pattern of the pattern generator, and output the restructured secondary light, which has a matrix secondary light pattern for detection.

[0034] In another preferred embodiment, the optical pattern generator is designed as a mechanically fixed predefined photomask which has a structure in the material which corresponds to or corresponds to the matrix-like pattern.

[0035] Finally, the invention also relates to a working device itself, which is designed with a lidar system designed according to the invention and is in particular designed as a vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Embodiments of the present invention are described in detail with reference to the accompanying drawings.

[0037] Figure 1 The following schematically shows a schematic representation of an embodiment of a lidar system designed according to the invention, which can be used in conjunction with the operating method according to the invention.

[0038] Figure 2The following aspects of an embodiment of the lidar system according to the invention are explained schematically, focusing on the design and mode of operation of a pattern generator in the receiver unit.

[0039] Figure 3 Aspects of evaluating the received secondary light while evaluating complementary light patterns in reflection and transmission are shown.

[0040] Figure 4 Shown schematically are details of a dual detector design for simultaneous evaluation of complementary light patterns in reflection and transmission. DETAILED DESCRIPTION

[0041] Below, refer to Figures 1 to 4 The embodiments and technical background of the present invention are described in detail. The same and equivalent elements and components that function in the same or equivalent manner are indicated by the same reference numerals. The detailed description of the marked elements and components is not repeated every time they appear.

[0042] The features and further characteristics shown can be separated from one another in any desired form and combined with one another in any desired manner, without departing from the core of the present invention.

[0043] There are two basic concepts for lidar systems 1, (i) on the one hand so-called flash systems, in which the entire scene 53 of the field of view 50 is illuminated by means of primary light 57 and subsequently detected in parallel, and (ii) on the other hand so-called scanner systems, in which the scene 53 is scanned, sampled or raster-scanned by means of a single laser beam of primary light 57.

[0044] In addition to hybrid forms such as vertical flash LiDAR, the main systems that have been widely accepted on the market so far are sampling systems or scanner systems, especially because there are high technical barriers in the development of flash systems. Conventional or traditional flash systems work with a two-dimensional detector, which records the complete image of the scene 53 in the field of view 50 in a propagation time coded manner.

[0045] An alternative concept for detection is the so-called compressed sensing lidar approach, also referred to as photon counting lidar approach, which is based on data compression (Datenkomprimierung or Datenkompression) at the measured value level and is known per se, for example from references [1] to [3].

[0046] Flash systems require high optical power in order to achieve a large range of action, since the emitted optical power is distributed over a large spatial area. In contrast, pure scanning systems with spot illumination often have problems with achievable resolution, implementation of the scanning function, and eye safety.

[0047] In order to circumvent the disadvantages of both variants, so-called vertical flash lidars were developed as a hybrid concept. In this case, vertical lines are emitted by the lidar sensor and therefore a flash scheme is followed in the vertical direction and a scanning scheme is followed in the horizontal direction. However, as is common in flash schemes, a planar, spatially resolved detector is used here at least in one spatial direction. Detectors of this type are technically very demanding on the one hand, primarily with regard to the high number of elements, i.e. pixels, and are cost-intensive on the other. In addition, imaging optics of very high quality and thermal stability are required in order to adequately image the backscattered photons onto the sensor.

[0048] The solution proposed according to the invention is based on the principle of compressed sensing and eliminates these disadvantages.

[0049] Figure 1 A schematic diagram shows an embodiment of a lidar system 1 designed according to the invention, which can be used in conjunction with the operating method according to the invention.

[0050] The lidar system 1 has a transmitter unit 60 , which can also be understood as transmitter optics, and a receiver unit 30 , which can also be understood as receiver optics.

[0051] The control unit 40 is advantageously designed to which the transmitter unit 60 and the receiver unit 30 are operatively connected via detection lines and control lines 41 and 42 .

[0052] The transmitter unit 60 has a light source unit 65 for generating and emitting unstructured primary light 57 , a beam shaping optical system 66 for beam shaping, and a deflection optical system 62 for actually emitting the unstructured primary light 57 into a field of view 50 having a scene 53 , which can contain, for example, an object 52 .

[0053] The receiver unit 30 has a primary optical system 34 , for example in the manner of a lens, and a secondary optical system 35 , for example having a receiver-side focusing optical system 35 - 1 .

[0054] The core component of the receiver unit 30, in particular the secondary optical device 35, according to the present invention is a pattern generator 35-2 arranged between the primary optical device 34 and the focusing optical device 35-1 on the receiver side, which is provided and has a device that restructures the secondary light 58 received from the field of view 50 in transmission and / or in reflection by means of a matrix pattern 80 having a column pattern 81, on the one hand by transmission and on the other hand by reflection / absorption into a transmitted matrix light pattern 90t or a reflected matrix light pattern 90r, wherein the column pattern is arranged in the row direction 82 of the underlying matrix 80', and the transmitted matrix light pattern or the reflected matrix light pattern has a corresponding column pattern 91t or 91r.

[0055] The primary optical device 34 and the secondary optical device 35 of the receiver unit 30 are also used to image the secondary light 58r, 58t received from the field of view 50 and then structured onto the detector assembly 20, that is, the detector assembly has sub-detectors 20r, 20t for detection in reflection or in transmission, and the detector assembly has a plurality of sensor elements 22r, 22t or detector elements.

[0056] By verifying the restructured secondary light 58r, 58t from the field of view 50 (the secondary light has an imaged matrix secondary light pattern 90r, 90t, and the light pattern has a corresponding column pattern 91r, 91t), the field of view 50 of the lidar system 1 can be detected and evaluated in cooperation with the detector component 20 and the control and analysis processing unit 40, especially according to the type of compressed sensing method.

[0057] Here, when the lidar system 1 is in operation, according to the present invention, the received unstructured primary light 58 is restructured on the receiver side by means of a predetermined fixed and temporally constant matrix pattern 80, wherein the matrix pattern is in particular a matrix pattern of a pattern generator 35-2 on which the secondary optical device 35 of the receiver unit 30 is based, and is composed of a predefined and temporally constant column pattern 81, and one or two matrix light patterns 90r, 90t are generated by the unstructured primary light 58 in reflection and / or transmission on the pattern generator 35-3 and are provided to corresponding detector components 20r, 20t, which have detector elements 22r, 22t.

[0058] In addition, according to the present invention, during detection and analysis on the receiver side, restructured secondary light 58r, 58t from the field of view 50 is received as corresponding secondary column patterns 91r, 91t, respectively, and for detection purposes, is imaged onto the assigned common detector elements 22r, 22t of the corresponding detector assemblies 20r, 20t and detected as a whole.

[0059] That is, the structuring of the unstructured secondary light 58 is achieved in the receiver unit in the secondary optical device 35 before passing through the focusing optical device 35-1 and using the pattern generator 35-2 on the receiver side, which can also be understood as a pattern element and is used to spatially restructure the field of view of the pattern generator 35-2 passing through the secondary optical device 35 perpendicular to the propagation direction of the light, for example by spatial masking or release or reflection, so as to thereby form restructured secondary light 58r, 58t and provide it to the detector assembly 20.

[0060] For this purpose, the pattern generator 35 - 2 has a predetermined, fixed and temporally constant configuration in the manner of a matrix 80 ′ for constructing a matrix-like pattern 80 having column patterns 81 which are arranged one behind the other in the row direction 82 , i.e. in the direction of extension of the rows, in the underlying matrix 80 ′.

[0061] The structure of matrix 80 ′ correspondingly results in the formation of corresponding secondary matrix-like light patterns 90 r and 90 t in reflection or transmission, which have corresponding bright regions 96 or bright pixels and dark regions 97 or dark pixels.

[0062] The illumination of field of view 50 by means of unstructured primary light 57 can be carried out in different ways, ie in particular with light field 70 designed in different ways.

[0063] For example, it is conceivable to use a linear light field 71 while scanning 74 the light fields 70 , 71 in the field of view 50 by a corresponding pivoting movement 73 of the transmitter unit 60 or in the transmitter unit 60 . .

[0064] By imaging on the transmitter side with the aid of a deflection optical device 62 and the imaged light pattern 90r, 90t and / or the underlying matrix 80', 90', in particular corresponding to a row direction 82, 92 in the pattern 80 of the pattern transmitter 35-2, the light field 70 is projected into the field of view 50 with a corresponding swinging movement or scanning movement 74.

[0065] That is, the transmitter-side pivoting movement 73 causes a scanning 74 of the light field 70 in the field of view 50 .

[0066] Alternatively, the field of view 50 can be exposed by means of the flat light field 72 without a transmitter-side pivoting movement 73 .

[0067] In this case, a corresponding receiver-side pivoting movement 73 of the imaged light patterns 90r, 90t and / or the underlying matrices 80', 90', in particular along the row directions 82, 92 of the underlying pattern 80 of the pattern transmitter 35-2, can help to achieve a corresponding imaging ratio of the individual column patterns 91r, 91t to the common detector element.

[0068] According to the invention, a relatively simpler photodetector can be used in conjunction with the detector arrangement 20 , 20 r , 20 t , which photodetector in particular has a smaller number of individual detector elements 22 r , 22 t , which can also be referred to as pixels.

[0069] Furthermore, in the present invention, the corresponding imaging optics can be reduced to a more advantageous lens system.

[0070] It is also possible to compress the recorded data directly during the measurement process—hence the term compressed sensing—whereby the data rate between light sensor 20 and processing logic 40 can be drastically reduced, for example for communication between rotor and stator of lidar system 1 .

[0071] Here, the invention also avoids the disadvantage of previous compressed sensing systems, namely the need for a light modulator and its actuation, for example in the sense of a spatial light modulator which requires the shortest possible switching times.

[0072] As described above, this is achieved according to the invention by using, for structuring unstructured secondary light 58 , a receiver-side pattern generator 35 - 2 having a predetermined, fixed, temporally constant configuration in the manner of a matrix 80 ′ for constructing a primary pattern 80 having a column pattern 81 .

[0073] According to the invention, in particular the need for variable configuration of the structured elements and the control mechanisms required therefor are thus dispensed with.

[0074] The modulators conventionally required have hitherto been hardly affordable and / or have had severe limitations in terms of availability.

[0075] For example, the fastest available modulators typically have a maximum switching frequency of 32 kHz, whereby the possible image repetition rate is strongly limited. Furthermore, components of this type are often expensive and do not meet the requirements in the automotive sector.

[0076] That is, the core of the present invention is to provide a compressed sensing scheme that can be used without a light modulator in the conventional sense, that is, for example, without a spatial light modulator.

[0077] In this case, a constant pattern 80 is provided on the receiver side, by which initially unstructured secondary light 58 is restructured in reflection and / or transmission on pattern generator 35 - 2 using pattern 80 to form restructured primary light 58r , 58t having light patterns 90r , 90t .

[0078] If necessary, a scanning movement 73 on the transmitter side can be used to enable linear light field 71 to be scanned over scene 53 in field of view 50 , for example in the horizontal direction.

[0079] According to the invention, the individual column patterns 91r, 91t of the restructured secondary light 58r, 58t with the matrix-like light pattern 90r, 90t are imaged onto a common detector pixel 22r or 22t of the corresponding detector arrangement 20r or 20t.

[0080] By means of a sufficiently large number of column patterns 81 , the continuous illumination and evaluation of the columns makes it possible to unambiguously and uniquely assign the depth information to the individual pixels.

[0081] The compressed sensing system or CS (Compressed Sensing) system 1 is essentially composed of three components, namely a pulsed or modulated light source 65 , an element 66 - 2 for structuring the primary light 57 and a one-dimensional or 1D (Dimension) detector 20 .

[0082] So-called digital light modulators or DLMs are conventionally used to structure the light 57. Alternatively, the component can also be conventionally implemented as an LCD display, but the transmission and / or the signal gain is reduced thereby.

[0083] The core of the present invention now lies in replacing the means conventionally used for dynamic pattern generation, namely in particular by a stationary pattern generator 35-2 on the receiver side, which is arranged according to the invention to provide a predetermined, fixed, temporally constant configuration in order to structure the unrestructured secondary light 58 in order to serve as restructured secondary light 58r in reflection or as restructured secondary light 58t in transmission, which configuration is in the type of a matrix 80' for constructing a pattern 80 having a matrix-like light pattern 90r, 90t, which respectively has column patterns 91r, 90t.

[0084] According to the invention, in particular the need for variable configuration of the structured elements and the control mechanisms required therefor are thus dispensed with.

[0085] By structuring the light field in the region of the secondary light 58, it is possible to print Binary pattern, i.e. "light" and "no light".

[0086] In a typical variant for a CS system according to the invention, the backscattered light as secondary light 58 is received by means of a convex lens or generally by means of the primary optical device 34 in the receiver unit 30 and is measured in a one-dimensional or 1D photodetector of the detector assembly 20, 20r, 20t after restructuring in the pattern generator 35-2 of the secondary optical device 35.

[0087] The detector element or photodetector can be, for example, a cost-effective avalanche photodiode (APD), which allows high sensitivity while allowing fast measurement times. Here, the photodiode used as the detector element 22r, 22t of the detector assembly 20, 20r, 20t records the complete histogram of the received photons.

[0088] In order to be able to reconstruct scene 53 in field of view 50 therefrom, it is necessary to detect scene 53 with the aid of a complete set of structurings in the sense of column patterns 81 of pattern 80 .

[0089] Complete here means complete in the sense of a complete orthogonal basis, for example on the basis of so-called Hadamard matrices.

[0090] The advantage of methods with receiver-side light structuring is that the full power of light source 65 can be used to illuminate scene 53 in field of view 50. In the case of transmitter-side light structuring, typically about 50% of the light power is lost as power losses due to blinding of individual pixels.

[0091] As described above, in the case of the compressed sensor system 1 according to the invention with light filtering or restructuring of the secondary light 58 on the receiver side, the requirements on the beam quality of the underlying light source 65 are reduced, since the beam of the primary light 57 can be significantly larger, for example, in order to illuminate a plurality of columns on the receiver side simultaneously. The latter allows the use of simpler, more cost-effective lenses for the primary optics 34 of the receiver unit 30 and allows a higher maximum laser power to be achieved in terms of eye safety. The latter is accompanied by an increased range of action.

[0092] One aspect of the invention here is to provide or use an optical mask as pattern generator 35 - 2 in secondary optics 35 of receiver unit 35 , which optical mask can be introduced into the image plane of imaging optics 34 .

[0093] The mask 35 - 2 is designed in this case such that it consists of elements of equal size, which as pixels 86 , 87 can be understood as transmissive or blocking / reflective, ie either light-transmissive or light-absorbing / reflective.

[0094] Figure 2 and Figure 4 For this purpose, the following aspects of an embodiment of the lidar system 1 according to the invention are shown by way of example and in a schematic manner, which focus on the design and mode of operation of the pattern generator 35 - 2 in the receiver unit 30 .

[0095] The arrangement of the elements 86, 87 of the pattern 80 corresponds here as a whole to the column pattern 81 which is necessary for reconstruction in the sense of the compressed sensing scheme. Ideally, but not necessarily, the column pattern 81 is arranged in its natural order in the underlying pattern 80 of the pattern generator 35-2, for example in ascending frequency.

[0096] For reconstruction in the sense of a compressed sensing approach, it is necessary that for each column pattern of the underlying pattern 80 the signal of the corresponding column pattern 91r, 91t of the secondary light pattern is measured in transmission as a pattern and in reflection as a complementary or inverse pattern.

[0097] Then, the coefficients for reconstruction can be determined from the difference of the two signals, as in combination with Figure 3 As shown.

[0098] In an advantageous embodiment of the invention, this can be utilized by means of a mirror mask as pattern generator 35-2 in that the separated beams 58r, 58t are imaged simultaneously onto two detector units 20r, 20t, such as in combination with Figure 4 As shown.

[0099] Figure 4 For this purpose, details of a dual detector design are schematically shown, which serves to simultaneously evaluate complementary light patterns 90 r and 90 t of the restructured secondary light 58 r and 58 t in reflection or in transmission.

[0100] Therefore, the corresponding two signals can be measured simultaneously, and the number of necessary column patterns 81 in the underlying pattern 80 can be further reduced.

[0101] Source

[0102] [1] Howland et al., “Photon-counting compressive sensing laser radar for 3D imaging”, Applied Optics, 50(31), November 2011.

[0103] [2] Howland et al., “Photon counting compressive depth mapping”, Optics Express, 21(20), September 2013.

[0104] [3] Edgar et al., “Real-time computational photon-counting LiDAR,” Optical Engineering, 57(3), March 2018.

Claims

1. A method for operating a laser radar system (1) of the compressed sensing type, in which: (i) on the transmitter side, emitting primary light (57) in an unstructured manner into the field of view (50) for illumination of the field of view, (ii) On the receiver side, light from the field of view (50) - is received as secondary light (58), - by means of light structuring by means of a predetermined, fixed, temporally constant matrix pattern (80), the light is converted into restructured secondary light (58r, 58t), the restructured secondary light having at least one matrix light pattern (90r, 90t), the matrix light pattern consisting of column patterns (91r, 91t), and For detection, they are imaged column by column in a column pattern (91r, 91t) onto an associated common detector element (22r, 22t) of a detector arrangement (20, 20t, 20r) and detected as a whole.

2. The operating method according to claim 1, wherein: - providing a matrix-like pattern (80) based thereon by means of a pattern generator (35-2), - restructuring the secondary light (58) into restructured secondary light (58r, 58t) in transmission and / or reflection of the pattern (80), - detecting the transmitted, restructured secondary light (58t) by means of a first detector arrangement (20t) having a first detector element (22t), the transmitted, restructured secondary light having a transmitted first matrix-like light pattern (90t), the transmitted first matrix-like light pattern having a first column pattern (91t), - detecting the reflected, restructured secondary light (58r) by means of a second detector assembly (20r) having a second detector element (22r), the reflected, restructured secondary light having a reflected second matrix light pattern (90r), the reflected second matrix light pattern having a second column pattern (91r), and / or After detection, the reflected and transmitted light patterns ( 90 r , 90 t ) are evaluated individually and / or in combination with one another as mutually complementary light patterns.

3. The method as claimed in claim 2, wherein in the operating method the underlying matrix-like pattern (80) is provided by means of a predetermined, fixed, temporally constant photomask.

4. The method according to claim 2, wherein in the operating method, the secondary light (58) is restructured into restructured secondary light (58r, 58t) in transmission and / or reflection of the pattern generator (35-2).

5. The operating method according to claim 1 , wherein the illumination of the field of view ( 50 ) by means of primary light ( 57 ) - by linear illumination of the linear light field (71) with the primary light (57) during sampling of the light field (71) over the field of view (50) by oscillating the light source (65) and / or the deflection optical element (62), and / or - achieved by surface illumination with a surface light field (72).

6. The method according to claim 5, wherein in the operating method the illumination of the field of view (50) with the primary light (57) is respectively carried out continuously and / or according to the flash principle.

7. An operating method according to any of the preceding claims, wherein when irradiating the field of view (50), in order to distribute between the column pattern (81) of the based pattern (80) and the corresponding column pattern (91r, 91t) imaged onto the detector elements (22r, 22t) of the corresponding detector assembly (20r, 20t), the based pattern generator (35-2), the corresponding detector assembly (20, 20t, 20r) and / or the based primary optical device (34) are swung in a coordinated, controlled and / or regulated manner on the receiver side.

8. The operating method according to any one of the preceding claims, in which: - providing, generating and / or using pairs of different column patterns (81) as a basis for the pattern (80) and / or for the matrix-like light pattern (90r, 90t), - a clear and unique assignment of the depth information in the field of view (50) to the individual detector elements (22r, 22t) is determined by the continuous use and / or continuous imaging with the aid of the column pattern (81, 91r, 91t).

9. The method according to claim 8, wherein in the operating method, a clear and unique assignment of depth information in the field of view (50) to individual detector elements (22r, 22t) is determined by continuous imaging with the aid of all column patterns (81, 91r, 91t).

10. An operating method according to any of the preceding claims, in which, for each pixel (86, 87; 96, 97) in the column pattern (81; 91r, 91t), a propagation time histogram of the received light intensity is determined and depth information of the corresponding column pattern (81; 91r, 91t) is determined therefrom.

11. The operating method according to claim 1, in which a plurality of predefined column patterns (81) for the light structuring have or form a complete set of column patterns (81).

12. The operating method according to claim 1, wherein a plurality of predefined column patterns (81) for the light structuring comprises or forms part of a complete set of column patterns (81).

13. The operating method according to claim 12, in which a plurality of predefined column patterns (81) for the light structuring comprises or forms part of the complete set of column patterns (81) in a proportion of approximately 25%.

14. The operating method according to any one of claims 11 to 13, wherein the complete set of column patterns is a complete orthogonal basis.

15. The operating method according to claim 1, in which a plurality of predefined primary column patterns (71, 81) for the light structuring have a uniform or different resolution along the column direction.

16. A control unit (40) for a lidar system (1), the control unit being configured to start, implement, enable operation, adjust and / or control an operating method according to any one of claims 1 to 15 in the lidar system (1) on which it is based.

17. A laser radar system (1), The laser radar system is designed to have a transmitter unit (60) for generating primary light (57) and emitting the primary light into a field of view (50) for illuminating the field of view, - having a receiver unit (30) for receiving, detecting and evaluating secondary light (58) from the field of view (50), - The laser radar system is configured to use the laser radar system with the aid of an operating method according to any one of claims 1 to 15 and / or to control or regulate the laser radar system by this type of operating method and / or the laser radar system has a control unit (40) according to claim 16 for this purpose, which is configured to control the operation of the transmitter unit (60) and / or the receiver unit (30).

18. The laser radar system (1) according to claim 17, wherein the receiver unit (30) has an optical pattern generator (35-2), which is configured to record the secondary light (58) to be received and restructure the secondary light to be received according to the matrix pattern (80) of the pattern generator (35-2), and output the restructured secondary light (58r, 58t), wherein the restructured secondary light has a matrix secondary light pattern (90r, 90t) for detection.

19. A laser radar system (1) according to claim 18, in which the optical pattern generator (35-2) is constructed as a mechanically fixed predetermined photomask, and the mechanically fixed predetermined photomask has a configuration corresponding to or corresponding to the matrix pattern (80) in terms of material.

20. A working device, the working device being configured with a laser radar system (1) according to any one of claims 17 to 19.

21. The working device according to claim 20, wherein: The working device is designed as a vehicle.

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