Imaging optical system

Abstract

An imaging optical system for imaging at least one light source (1) onto at least one light-sensitive sensor (4), wherein the imaging optical system comprises at least one optical aperture (2), at least one beam-forming optical element (3), and at least one light-sensitive sensor (4), wherein the at least one beam-forming optical element (3) is a plano-concave cylindrical mirror, in particular a plano-concave cylindrical mirror.

Description

Technical Field

[0001] The present invention relates to an imaging optical system for imaging at least one light source onto at least one light-sensitive sensor according to the generic concept of claim 1, the use of such an imaging optical system for capturing the position and / or movement of at least one object in space, and a method for capturing the position and / or movement of at least one object in space according to the generic concept of claim 14.

[0002] In the prior art, from WO 2004 / 046770, an apparatus for imaging a light source onto at least one light-sensitive sensor by means of at least one optical lens is known, wherein the optical system used for generating the image has a beam shaping optical element in the form of at least one lens having a toroidal shape and an aspherical shape. By using lenses having a toroidal shape and an aspherical shape, spherical aberration (also referred to as aperture aberration or spherical aberration) that usually occurs in an optical lens can be minimized. By using lenses having a toroidal shape and an aspherical shape, improved image quality can be achieved, particularly when light is incident over a large angular range. However, the manufacture of lenses having a toroidal shape and an aspherical shape is technically laborious and leads to high manufacturing costs.

[0003] The object of the present invention is to accurately optically image at least one light source onto at least one light-sensitive sensor using an imaging optical system that can be easily manufactured and enables accurate capture of the position and / or movement of at least one object in space.

[0004] This object is solved by an imaging optical system having the features of claim 1, by the use of such an imaging optical system, and by a method having the features of claim 14.

[0005] Advantageous configurations are defined in the dependent claims.

[0006] This imaging optical system is basically suitable for imaging at least one light source capable of emitting monochromatic and / or polychromatic light, for example, in the visible region and / or outside the visible region, particularly in the infrared region, onto at least one corresponding light-sensitive sensor.

[0007] The object whose position and / or motion should be captured in space can emit light and thus form a light source. The object may also have a light source that can be placed on it. Similarly, light reflected from the object may be captured by an imaging optical system. For this purpose, for example, a suitable reflector may be placed on the object.

[0008] A light-sensitive sensor can basically be configured as a photoelectric sensor that converts light incident on the light-sensitive sensor into an electrical signal.

[0009] The imaging optical system includes at least one optical aperture, at least one beam-forming optical element, and at least one light-sensitive sensor.

[0010] An optical aperture can be used within the framework of a geometric optical system to mechanically restrict the beam during optical imaging.

[0011] Generally, beam shaping optical elements can be used to shape light beams, particularly by changing the propagation direction of light transmitted and / or reflected by the optical element.

[0012] In a favorable configuration, at least one beam-shaping optical element is configured as a plano-concave cylindrical mirror.

[0013] A plano-concave cylindrical mirror can generally be understood to mean a hollow mirror. In particular, it can be understood to mean a mirror that is concave in one direction, that is, curved inward. A plano-concave cylindrical mirror may be constructed flat along an axis, and may have curvature along an axis that extends substantially perpendicular to this axis. The curvature of the cylindrical mirror, and thus its outer surface, may generally be formed as an ellipse, parabolic, non-cylindrical, especially aspherical, or especially as a circle with a certain curvature.

[0014] Along its outer surface, the flat-concave cylindrical mirror may have an extended portion that is curved in a concave shape when viewed in the circumferential direction. When viewed in the height direction, that is, in a direction parallel to the cylindrical axis, the flat-concave cylindrical mirror may have a flat extended portion.

[0015] In beam-shaping optical elements such as optical lenses, where the light beam is shaped by transmission, imaging aberrations occur due to differences in the beam path and optical path length caused by the actual thickness and shape of the lens used. Additional imaging aberrations may occur due to wavelength-dependent refractive index. Additional optical elements may be required for beam guidance.

[0016] By using a beam-shaping optical element in the form of a flat-concave cylindrical mirror that can be easily manufactured, light beam shaping can be performed substantially solely by reflection.

[0017] A flat-concave cylindrical mirror can be used for beam guidance, i.e., shaping the beam path, and simultaneously for beam focusing.

[0018] The beam path of an imaging optical system can generally extend within an optically transparent medium. This medium may be, for example, a vacuum, a gaseous substance in particular air, glass, or an optically transparent plastic.

[0019] The beam path of an imaging optical system can be understood to essentially mean the extended portion that is followed by incident light from the optical diaphragm to the light-sensitive sensor.

[0020] In particular, in configurations using glass as the optical medium, high temperature stability can be achieved in the structural components between the aperture, the optical element, and the sensor.

[0021] In configurations using glass or optically transparent plastic as the optical medium, a plano-concave cylindrical mirror of the imaging optical system can be formed by appropriately mirroring the corresponding plano-concave cylindrical outer surface of the optical medium body.

[0022] Advantageously, at least one beam-shaping optical element may be positioned in the optical beam path between at least one optical aperture and at least one photosensitive sensor. This allows the optical aperture to mechanically restrict the beam of light incident on the plano-concave cylindrical mirror.

[0023] At least one optical aperture and / or at least one light-sensitive sensor may be positioned outside the optical plane of at least one beam-shaping optical element. The optical plane of the plano-concave cylindrical mirror can be understood as a plane of symmetry extending through the center of curvature of the cylindrical mirror, similar to the optical axis. A light beam incident on the concave cylindrical mirror in the optical plane is reflected in the optical plane. A light beam incident on the plano-concave cylindrical mirror outside the optical plane is reflected, thereby shaping the beam path and focusing the beam.

[0024] The imaging optical system may have a folded beam path between at least one optical aperture and at least one light-sensitive sensor. This beam path may have an extension that deviates from a linear extension, thereby allowing the imaging optical system to require less space. In contrast to imaging optical systems with transmission-based optical lenses, with a plano-concave cylindrical mirror, the imaging of the optical aperture onto the light-sensitive sensor can be performed within a folded beam path that deviates from a linear extension by reflection of the incident light beam.

[0025] The imaging optical system can generally image the slit opening of at least one optical aperture onto at least one photosensitive sensor.

[0026] In an advantageous configuration, the at least one photosensitive sensor may be a planar sensor or a line sensor. The planar sensor or line sensor may be constructed from a plurality of individual sensors arranged in a planar or linear fashion, also referred to as pixels. The light incident thereon can be detected by one or more individual sensors according to the intensity distribution of the incident light. Depending on the individual sensors illuminated by the incident light, the position of the incident location along the planar sensor or line sensor may be identifiable. A configuration with a similar photosensitive sensor having a substantially isotropic sensor surface and capable of supplying continuous position information with respect to the incident light is likewise conceivable.

[0027] The longitudinal extent of the optical sensor can correspond to the dimensions of the photosensitive area of the sensor, i.e., for example, the rows of pixels or the dimensions of the sensor plane.

[0028] The at least one optical aperture may be a slit aperture having a preset or presettable width along the transverse direction and a preset or presettable height along the longitudinal direction. The slit aperture can generally be characterized by its width. Additionally, if the length of the slit is preset or presettable, this length can be characterized by the height information.

[0029] The position and / or movement of at least one object in space may be characterized by at least one angle with respect to the optical aperture of the imaging optical system. The angle with respect to the optical aperture of the imaging optical system, such as the polar angle and / or azimuth angle, can be measured or defined relative to the direction of the width and / or the direction of the height of the optical aperture.

[0030] The angle can be measured, for example, with respect to the normal on the plane of the optical aperture. For example, if the orientation of the aperture relative to a preset or presettable spatial direction, such as relative to a horizontal or vertical line, is known, the position of an object in space can be characterized, for example, by the relationship of a triangulation method.

[0031] Advantageously, the slit aperture of the optical aperture extends parallel to the cylindrical axis of the beam shaping optical element when viewed along the height direction. In one configuration of the beam shaping optical element as a plano-concave cylindrical mirror, the cylindrical axis extends through the center of curvature of the mirror. The optical aperture configured as a slit aperture may be oriented such that the cylindrical axis extends parallel to the height direction of the slit when viewed in the height direction of the optical aperture, i.e., in the longitudinal direction of the slit, relative to the mirror.

[0032] Under different azimuth angles, i.e., different angles with respect to the longitudinal direction of the slit aperture, the light incident on the optical aperture will, in such an arrangement, enter different regions along the height direction of the plano-concave cylindrical mirror at different angles and be reflected according to the planar extension situation in this direction.

[0033] At least one light-sensitive sensor may be configured as a line sensor or a planar sensor having a longitudinal extension along the longitudinal direction, where the longitudinal direction advantageously extends transversely to the cylindrical axis of the beam shaping optical element, particularly at right angles when viewed as a projection on the beam path between the mirror and the sensor.

[0034] Under different polar angles, i.e., different angles around the longitudinal direction of the slit aperture, the light incident on the optical aperture will, in such an arrangement, enter the plano-concave cylindrical mirror at various regions along the circumferential direction of the plano-concave cylindrical mirror at different angles and be reflected and converged according to the concave extension in this direction.

[0035] At least one light-sensitive sensor may be configured as a line sensor or planar sensor having a longitudinal extension along the longitudinal direction, in which case the polar angle of the optical aperture about the longitudinal direction can be determined from the position of a light source imaged along the longitudinal extension of at least one light-sensitive sensor.

[0036] The imaging optical system may include an evaluation device, which can be used to determine the polar angle of the optical aperture around the longitudinal direction from an incident position along the longitudinal extension of at least one light-sensitive sensor.

[0037] The evaluation device may have at least one computing unit that forms a data connection with or is capable of transitioning to such a state with at least one memory unit of the evaluation device. The memory unit of the evaluation device may store data relating to the spacing, dimensions, geometric shape, and focal spacing of the imaging optical system. A similar configuration of the evaluation device is also conceivable, which includes a sensor system that captures the orientation of the imaging optical system in a settable or set spatial direction.

[0038] A computer program product, when executed by a computing unit, may include instructions that cause the computing unit to execute a method for capturing the position and / or motion of at least one object in space, from a memory unit.

[0039] The computer program product may, for example, be stored in at least one memory unit of the evaluation device and can be executed by at least one computing unit of the evaluation device.

[0040] The position and possibly movement of light sources in space may be determined by specifying their respective angles and, possibly, their changes, through two or more imaging optical systems or an array of imaging optical systems comprising a corresponding number of apertures, mirrors, and sensors oriented in correspondingly different spatial directions. The distance from the object to the imaging optical system may also be determined three-dimensionally.

[0041] By focusing light onto a light-sensitive sensor, generally, higher sensitivity detection and higher spatial resolution can be achieved, especially with multiple adjacent light sources.

[0042] At least one light-sensitive sensor may be positioned at a distance from at least one beam-forming optical element that is substantially smaller than the radius of curvature of the at least one beam-forming optical element, preferably less than three-quarters of the radius of curvature, particularly preferably less than two-thirds of the radius of curvature, and particularly substantially half of the radius of curvature. This allows for reduced imaging of the optical aperture on the light-sensitive sensor, thereby enabling higher sensitivity detection and higher spatial resolution.

[0043] At least one light-sensitive sensor may be positioned substantially at a distance from at least one beam-forming optical element that is greater than one-quarter of the radius of curvature of the at least one beam-forming optical element, preferably greater than one-third of the radius of curvature, and particularly preferably substantially half of the radius of curvature. This allows for reduced imaging of the optical aperture on the light-sensitive sensor, thereby enabling higher sensitivity detection and higher spatial resolution.

[0044] At least one optical aperture may be positioned at a distance from at least one beam-forming optical element that is substantially smaller than the radius of curvature of at least one beam-forming optical element, preferably less than three-quarters of the radius of curvature, particularly preferably less than two-thirds of the radius of curvature, and particularly substantially half of the radius of curvature. This can affect the angular range over which light from a light source can be incident on the beam-forming optical element.

[0045] At least one optical aperture may be positioned substantially at a distance from at least one beam-forming optical element that is greater than 1 / 4 of the radius of curvature of the at least one beam-forming optical element, preferably greater than 1 / 3 of the radius of curvature, and particularly preferably substantially half of the radius of curvature. This can affect the angular range over which light from a light source can be incident on the beam-forming optical element.

[0046] The spacing between at least one light-sensitive sensor and at least one beam-forming optical element, and the spacing between at least one optical aperture and at least one beam-forming optical element, may be adapted to each other. Given the dimensions, geometric shape, and focal length of the beam-forming optical element, a given aperture, and a given longitudinal extension of the sensor, the spacing between at least one optical aperture and at least one beam-forming optical element can be preset over an angular range in which light emitted from a light source can enter the mirror and be reflected by the mirror. The longitudinal extension of the sensor, i.e., the sensor length, can be preset over an angular range in which the light reflected by the mirror is detectable by the sensor.

[0047] At least one optical aperture, at least one beam-shaping optical element, and at least one light-sensitive sensor may be arranged at the vertices of a triangle. This results in an arrangement of the imaging optical system that deviates from the linear extension. The portion of the imaging optical system thus partially adjacent can have a reduced space requirement.

[0048] At least one optical aperture and at least one light-sensitive sensor may be spatially positioned between at least one light source and at least one beam-shaping optical element. This allows the parts of the imaging optical system to be positioned partially adjacent to each other.

[0049] As described above, the imaging optical system may be part of an array consisting of at least one imaging optical system and at least one light source. The at least one light source can be positioned on at least one object whose position and / or motion in space is to be captured.

[0050] Furthermore, protection is required for the use of imaging optical systems as described above to capture the position and / or motion of at least one object in space, in which case at least one light source is provided for at least one object.

[0051] Furthermore, protection is required for methods for capturing the position and / or motion of at least one object in space. To implement this method, imaging optical systems, in particular, as described above, can be used.

[0052] In this case, light emitted from at least one object can first pass through at least one optical aperture. Subsequently, the light can be incident on and reflected, and possibly focused, onto at least one beam-shaping optical element in the form of a plano-concave cylindrical mirror. In this case, beam guidance and beam focusing can be performed. After that, this light can be incident on at least one photosensitive sensor and detected by the sensor.

[0053] An object whose position and / or motion in space is to be captured may emit light itself, thereby forming a light source. The object may also have a light source that can be positioned on it. Similarly, light reflected from the object may be captured by an imaging optical system. For this purpose, for example, a suitable reflector may be positioned on the object.

[0054] Light emitted from at least one object can pass through at least one optical aperture at a polar angle about the longitudinal direction of the optical aperture, and in this case, depending on the polar angle, this light can be incident on and reflected onto the cylindrical outer casing segment of a planar-concave cylindrical mirror. Depending on the polar angle, the light can be incident on and detected at a position along the longitudinal extension of at least one photosensitive sensor configured as a line sensor or a planar sensor. This polar angle can be determined by an evaluation device for the imaging optical system from the position at which the light is incident along the longitudinal extension of at least one photosensitive sensor.

[0055] The light emissions from multiple objects or light sources to be captured can be serially clock-controlled to allow for differentiation between various objects and light sources. Different spectral distributions and different sensing sensors can be considered similarly.

[0056] The embodiments of the present invention will be discussed below with reference to the drawings. [Brief explanation of the drawing]

[0057] [Figure 1] This is a perspective view showing one configuration of an imaging optical system and an object having a light source positioned at a first location in space. [Figure 2] This is a perspective view showing an imaging optical system and an object having a light source positioned at a second location in space. [Figure 3] This is a perspective view showing an imaging optical system comprising an evaluation device and two objects having light sources positioned at different locations in space. [Figure 4] This is a side view showing the imaging optical system and two objects having light sources positioned at different locations in space, as shown in Figure 3. [Figure 5] This is a plan view showing the imaging optical system. [Figure 6] This is a perspective view showing the arrangement of three imaging optical systems oriented differently from one another, and the captured polar angle of a single object in space. [Figure 7]This is a perspective view showing an array of three imaging optical systems, oriented differently from one another, for capturing the position of an object in space.

[0058] Figure 1 shows an imaging optical system for imaging a light source 1 placed on an object 5 onto a light-sensitive sensor 4. In this case, the imaging optical system includes an optical aperture 2, a beam-forming optical element 3 in the form of a plano-concave cylindrical mirror, and a light-sensitive sensor 4. As shown in the figure, this imaging optical system images the slit opening 21 of at least one optical aperture 2 onto at least one light-sensitive sensor 4.

[0059] At least one beam-shaping optical element 3 is positioned within the optical beam path between the optical aperture 2 and at least one light-sensitive sensor 4. This optical aperture 2 and at least one light-sensitive sensor 4 are positioned outside the optical plane of at least one beam-shaping optical element 3 (see also Figure 4).

[0060] Due to reflection in the beam-forming optical element 3, which is in the form of a plano-concave cylindrical mirror, the imaging optical system between at least one optical aperture 2 and at least one light-sensitive sensor 4 has a folded beam path. The optical aperture 2, the beam-forming optical element 3, and the light-sensitive sensor 4 are arranged at the vertices of a triangle, in which case the optical aperture 2 and at least one light-sensitive sensor 4 are spatially positioned between at least one light source 1 and at least one beam-forming optical element 3.

[0061] In the illustrated configuration, the light-sensitive sensor 4 is configured as a line sensor having a longitudinally extending portion L1 along the longitudinal direction L. The longitudinal direction L extends laterally with respect to the cylindrical axis C of the beam-forming optical element 3, and particularly perpendicular when viewed in projection along the optical beam path. The slit opening 21 extends along the longitudinal direction H, parallel to the cylindrical axis C of the beam-forming optical element 3.

[0062] At least one light-sensitive sensor 4 is positioned at a distance r from at least one beam-forming optical element 3 that is substantially smaller than the radius of curvature R of at least one beam-forming optical element 3, in which case this radius of curvature R corresponds to the radial distance of the beam-forming optical elements 3 with respect to the cylindrical axis C (see Figures 4 and 5 for this). In the illustrated configuration, this distance r is substantially equivalent to half the radius of curvature R.

[0063] At least one optical aperture 2 is positioned at a distance d from at least one beam-forming optical element 3 that is substantially smaller than the radius of curvature R of at least one beam-forming optical element 3, in which case this radius of curvature R corresponds to the radial distance of the beam-forming optical elements 3 with respect to the cylindrical axis C (see Figures 4 and 5 for this). In the illustrated configuration, this distance d is substantially equivalent to half the radius of curvature R.

[0064] At the position of the object 5 where the light source 1 shown in Figure 1 is located, the light beam emitted from the object 5 passes through the aperture opening 21 under a polar angle phi1 around the longitudinal direction H of the optical aperture 2, which is measured, for example, with respect to the normal on the plane of the optical aperture 2. The emitted light is incident on the sensor 4 at position x1 along the longitudinal extension L1 of the sensor 4.

[0065] Figure 2 shows a similar depiction to Figure 1, where a light beam emitted from the object 6 on which the light source 1 is placed is again measured relative to the plane normal of the optical aperture 2 at a polar angle phi2 around the longitudinal direction H of the optical aperture 2, and passes through the aperture opening 21. The emitted light is incident on the sensor 4 at position x2 along the longitudinal extension L1 of the sensor 4.

[0066] Figure 3 shows a depiction similar to Figures 1 and 2, in which the imaging optical system is used to characterize the positions of objects 5 and 6 in space. In the illustrated configuration, the polar angle of the optical aperture 2 around the longitudinal direction H can be specified with respect to the plane normal of the optical aperture 2. With two or more imaging optical systems, or an array of imaging optical systems comprising a corresponding number of apertures 2, mirrors 3, and sensors 4 oriented to correspondingly different spatial directions, the positions and possibly movements of objects 5 and 6 and light source 1 in space can be characterized by specifying their respective angles to different spatial directions, and possibly their variations, as shown in Figures 6 and 7. The distances from objects 5 and 6 and light source 1 to the imaging optical system can also be specified three-dimensionally.

[0067] Figure 4 shows a side view of one imaging optical system and two objects 5 and 6 having light sources 1 positioned at different locations in space, in which case the arrangement of these imaging optical systems and objects 5 and 6 corresponds to the arrangement in Figure 3. The spacing R, r, d and angles phi1 and phi2 are shown here in projection view. The polar angles phi1 and phi2 of the light beams emitted from objects 5 and 6 having light sources 1 with respect to the plane normal of the optical aperture 2 may be determined from the incident positions x1 and x2 along the longitudinal extension L1 of at least one light-sensitive sensor 4.

[0068] Figure 5 shows a plan view of the imaging optical system, in which case the arrangement of the imaging optical system and the objects 5 and 6 may correspond to Figure 3. The intervals R, r, d and angles phi1 and phi2 are shown in projection views.

[0069] To capture the position and / or motion of at least one object 5,6 in space, light emitted from at least one object 5,6 passes through at least one optical aperture 2, is reflected by at least one beam-shaping optical element 3 in the form of a plano-concave cylindrical mirror, enters at least one light-sensitive sensor 4, and can be detected by the light-sensitive sensor 4.

[0070] The light emission from multiple objects 5,6 or light source 1 can be serially clock-controlled to enable distinction between objects 5,6 and light source 1. Different spectral distributions and different sensing sensors can be considered similarly.

[0071] Light emitted from at least one object 5,6 passes through at least one optical aperture 2 at various pole angles phi1,phi2 around the longitudinal direction H of the optical aperture 2, as shown in the figure, and, depending on the pole angles phi1,phi2, is incident on and reflected onto the cylindrical outer casing segment of the plano-concave cylindrical mirror, and, depending on the pole angles phi1,hi2, is incident on and detected at positions x1,x2 along the longitudinal extension L1 of at least one light-sensitive sensor 4 configured as a line sensor or planar sensor, and as a result, the respective pole angles phi1,phi2 can be determined by the evaluation device 7 from the incident positions x1,x2 along the longitudinal extension L1 of at least one light-sensitive sensor 4.

[0072] Figure 6 shows a perspective view of an array consisting of three imaging optical systems oriented differently from each other, and the polar angles phi1 captured by each imaging optical system of an object 5 in which a light source 1 is placed in space. Here, the captured polar angles phi1 are measured with respect to the normal of each optical aperture 2 on the plane, similar to the diagram discussed earlier.

[0073] Given the known or reasonably captured dimensions and spatial orientation of the imaging optical system array, the position of the object 5 in space may be determined by triangulation using pre-set or pre-configurable angles a1, a2, and a3 relative to the spatial direction, based on the captured polar angle phi1. This determination can be performed, for example, by the evaluation device 7 shown in Figure 3.

[0074] Figure 7 shows a perspective view of an array of three imaging optical systems, oriented differently from one another, used to capture the position of object 5 in space. The position of object 5 in space can be characterized by the captured angles a1, a2, and a3. [Explanation of symbols]

[0075] 1 light source 2 Optical aperture 3. Beam shaping optics 4. Light-sensitive sensor 5. Object 6. Object 7. Evaluation device 21 Slit opening H1 Slit opening height H Longitudinal direction B1 Width of the slit opening B Horizontal phi1 polar angle phi2 polar angle C Cylinder axis R radius of curvature L Longitudinal direction L1 longitudinal extension x1 position x2 position r interval d interval

Claims

1. An imaging optical system for imaging at least one light source (1) onto at least one light-sensitive sensor (4), The imaging optical system comprises at least one optical aperture (2), at least one beam-forming optical element (3), and at least one light-sensitive sensor (4), An imaging optical system characterized in that the at least one beam-forming optical element (3) is a plano-concave cylindrical mirror, particularly a plano-concave cylindrical mirror.

2. The imaging optical system according to claim 1, wherein the at least one beam-shaping optical element (3) is located in the optical beam path between the at least one optical aperture (2) and the at least one light-sensitive sensor (4).

3. The imaging optical system according to claim 1 or 2, wherein the at least one optical aperture (2) and / or the at least one light-sensitive sensor (4) are at least partially located outside the optical plane of the at least one beam-forming optical element (3).

4. The imaging optical system according to any one of claims 1 to 3, wherein the imaging optical system has a folded beam path between the at least one optical aperture (2) and the at least one light-sensitive sensor (4).

5. The imaging optical system according to any one of claims 1 to 4, wherein the imaging optical system forms an image of the slit opening (21) of the at least one optical aperture (2) onto the at least one light-sensitive sensor (4).

6. The imaging optical system according to any one of claims 1 to 5, wherein the at least one light-sensitive sensor (4) is a planar sensor or a line sensor.

7. The imaging optical system according to any one of claims 1 to 6, wherein the at least one optical aperture (2) is a slit aperture having a slit opening (21) having a width (B1) that is set or can be set along the transverse direction (B) and a height (H1) that is set or can be set along the longitudinal direction (H).

8. The imaging optical system according to claim 7, wherein the slit opening (21) extends along the longitudinal direction (H) parallel to the cylindrical axis (C) of the beam-forming optical element (3).

9. The imaging optical system according to any one of claims 1 to 8, wherein the at least one light-sensitive sensor (4) is a line sensor or a planar sensor having a longitudinally extending portion (L1) along the longitudinal direction (L) of the sensor (4), and the longitudinal direction (L) extends laterally with respect to the cylindrical axis (C) of the beam-forming optical element (3), particularly perpendicular to it.

10. The imaging optical system according to any one of claims 1 to 9, wherein the at least one light-sensitive sensor (4) is configured as a line sensor or planar sensor having a longitudinal extension (L1) along the longitudinal direction (L) of the sensor (4), and the polar angles (phi1, phi2) about the longitudinal direction (H) of the optical aperture (2) can be determined from the positions (x1, x2) of the light source (1) imaged along the longitudinal extension (L1) of the at least one light-sensitive sensor (4).

11. - The at least one light-sensitive sensor (4) is positioned at a distance (r) from the at least one beam-forming optical element (3) that is substantially smaller than the radius of curvature (R) of the at least one beam-forming optical element (3), preferably smaller than three-quarters of the radius of curvature (R), particularly preferably smaller than two-thirds of the radius of curvature (R), and / or - The imaging optical system according to any one of claims 1 to 10, wherein the at least one optical aperture (2) is positioned at a distance (r) from the at least one beam-forming optical element (3) that is substantially smaller than the radius of curvature (R) of the at least one beam-forming optical element (3), preferably smaller than three-quarters of the radius of curvature (R), particularly preferably smaller than two-thirds of the radius of curvature (R), and particularly substantially half of the radius of curvature (R),

12. - The at least one optical aperture (2), the at least one beam-shaping optical element (3), and the at least one light-sensitive sensor (4) are arranged at the vertices of a triangle, and / or - The imaging optical system according to any one of claims 1 to 11, wherein the at least one optical aperture (2) and the at least one light-sensitive sensor (4) are spatially arranged between the at least one light source (1) and the at least one beam-forming optical element (3).

13. Use of an imaging optical system according to any one of claims 1 to 12 for capturing the position and / or motion of at least one object (5, 6) in space, wherein at least one light source (1) is positioned at at least one of the objects (5, 6).

14. A method for capturing the position and / or motion of at least one object (5, 6) in space, particularly using an imaging optical system according to any one of claims 1 to 12, - Light emitted from at least one object (5, 6) passes through at least one optical aperture (2), - Reflected by at least one beam-shaping optical element (3) in the form of a plano-concave cylindrical mirror, - A method comprising light incident on at least one light-sensitive sensor (4) and detected by the sensor (4).

15. - The light emitted from the at least one object (5, 6) passes through the at least one optical aperture (2) at polar angles (phi1, phi2) about the longitudinal direction (H) of the optical aperture (2), - Depending on the polar angles (phi1, phi2), the light is incident on the cylindrical outer segment of the flat-concave cylindrical mirror and reflected. - Depending on the pole angles (phi1, phi2), the light is incident and detected at positions (x1, x2) along the longitudinal extension (L1) of at least one light-sensitive sensor (4) configured as a line sensor or a planar sensor, along the longitudinal direction (L). - The method for capturing the position and / or motion of at least one object (5, 6) in space according to claim 14, wherein the polar angles (phi1, phi2) are determined by an imaging optical system evaluation device (7) from incident positions (x1, x2) along the longitudinal extension (L1) along the longitudinal direction (L) of the at least one light-sensitive sensor (4).

Images