Lidar-based detection apparatus having a reflection barrier wall which surrounds at least part of a mirror of a deflection mirror device

Abstract

The invention relates to a LiDAR-based detection apparatus (12), in particular a LiDAR-based detection apparatus (12) for a vehicle (10), comprising: at least one transmitting device (16) for transmitting optical scanning signals (22); at least one receiving device (18) for receiving optical echo signals (28) which originate from scanning signals (22) reflected in a monitored region (24) of the detection apparatus (22); at least one deflection mirror device (20) for deflecting optical signals (22, 28), the deflection mirror device having at least one mirror (40) which can be rotated about an axis (42) and which has at least one mirror surface (44); and at least one reflection barrier wall (34) which surrounds at least part of the at least one mirror (40) with respect to the axis (42). The at least one reflection barrier wall (34) surrounds part of the at least one mirror (40) in the axial direction with respect to the axis (42) and in the circumferential direction such that said reflection barrier wall covers the at least one mirror (40) in said part in order to block optical beams which propagate to the at least one mirror (40) radially inwardly with respect to the axis (42) and in order to block optical beams which propagate from the mirror (40) radially outwardly.

Description

[0001] Description

[0002] LiDAR-based detection device with a reflection barrier that at least partially surrounds a mirror of a deflecting mirror device

[0003] Technical field

[0004] The invention relates to a LiDAR-based detection device, in particular a LiDAR-based detection device for a vehicle, comprising at least one transmitter for transmitting optical scanning signals, at least one receiver for receiving optical echo signals originating from scanning signals reflected in a monitoring area of ​​the detection device, at least one deflecting mirror device for deflecting optical signals, comprising at least one mirror rotatable about an axis with at least one mirror surface, and at least one reflection barrier that surrounds the at least one mirror at least partially with respect to the axis.

[0005] Furthermore, the invention relates to a reflection barrier for a deflecting mirror device for a LiDAR-based detection device, in particular for a LiDAR-based detection device for a vehicle.

[0006] Furthermore, the invention relates to a housing part for a LiDAR-based detection device, in particular for a LiDAR-based detection device for a vehicle, with at least one reflection barrier.

[0007] Furthermore, the invention relates to a housing for a LiDAR-based detection device, in particular for a LiDAR-based detection device for a vehicle, comprising at least two housing parts and at least one reflection barrier.

[0008] Furthermore, the invention relates to a deflecting mirror device with at least one mirror rotatable about an axis and at least one reflection barrier, wherein the at least one reflection barrier surrounds the at least one mirror at least partially with respect to the axis.

[0009] State of the art

[0010] From WO 2020 / 054896 A1, a lidar is known that has an internal reflection-blocking structure for blocking internal reflection of measurement light. For this purpose, the lidar with an internal reflection-blocking structure comprises: a light transmitter for emitting detection light towards a target; a light receiver for detecting reflected light arriving from the target; a body part for carrying the light transmitter and the light receiver; and a cover part arranged on a path of motion of the detection light and the reflected light, for covering a section of the body part to block the influx of foreign substances, wherein the cover part has an internal reflection-blocking plate on its inner circumferential surface for blocking the detection light reflected from the inner circumferential surface of the cover part.Furthermore, it includes a rotatable mirror for capturing the detected light and the reflected light. A housing comprises a body that carries an internal configuration and a translucent cover. The body is shown in a cylindrical shape. The internal reflection barrier plate can be located adjacent to the inner circumferential surface of the cover section and supported by the cover section.

[0011] The invention is based on the objective of designing a reflection barrier, a housing part, a housing, a deflecting mirror device and a LiDAR-based detection device of the type mentioned above, in which unwanted optical rays, in particular ghost reflections, can be reduced, in particular minimized, within the detection device.

[0012] Disclosure of the invention

[0013] The object of the invention is achieved in the LiDAR-based detection device by the fact that the at least one reflection barrier surrounds a part of the at least one mirror in the axial direction with respect to the axis and in the circumferential direction in such a way that it covers the at least one mirror in this part to block optical rays propagating towards the at least one mirror with respect to the axis from radially outside to radially inside and to block optical rays propagating away from the mirror from radially inside to radially outside.

[0014] According to the invention, at least one reflection barrier is provided, which can block unwanted propagation of optical beams within the LiDAR-based detection device. The at least one reflection barrier extends with respect to an axis both axially and circumferentially. In this way, a receiving space for at least one mirror of the deflecting mirror device can be realized within the at least one reflection barrier. The receiving space for the at least one mirror can be largely enclosed by the at least one reflection barrier. Thus, unwanted optical reflections in the area of ​​the at least one mirror can be reliably blocked.

[0015] Advantageously, the at least one reflection barrier for optically blocking at least a portion of the at least one mirror can be configured to block optical rays from radially outside to the at least one mirror and / or radially outside from the at least one mirror. In this way, no unwanted optical rays, such as ghost reflections, can travel from radially outside to radially inside the at least one mirror or vice versa.

[0016] Reducing unwanted reflections ensures that the desired optical signals within the LiDAR-based detection device, particularly scanning light signals and / or echo light signals used for LiDAR measurement, are not disrupted. This improves the overall measurement accuracy of the LiDAR-based detection device.

[0017] The at least one reflection barrier largely surrounds the area of ​​the at least one rotatable mirror, the at least one transmitting device, and the at least one receiving device. In this way, the remaining components, especially circuit boards, within the housing are not affected. Overall, this achieves an efficient reduction of unwanted reflections, particularly ghost reflections.

[0018] Advantageously, the at least one reflection barrier can surround the axis and the at least one mirror over a circumferential angle of at least 45°. In this way, the at least one reflection barrier covers at least one-eighth of the circumference of the mirror. The at least one reflection barrier also covers at least one-eighth of the circumference of a receiving space for the at least one mirror. Advantageously, the at least one reflection barrier can continuously surround the axis and the at least one mirror, at least partially. In this way, no gaps are created through which light can pass to or from the at least one mirror.

[0019] Advantageously, the at least one reflection barrier need not completely surround the axis and the at least one mirror. This allows a circumferential aperture to remain, through which light, in particular desired light signals such as scanning light signals and / or echo light signals, can enter or exit the recording chamber. The aperture can be configured such that desired optical signals, such as scanning light signals and / or echo light signals, can reach the at least one mirror in the recording chamber or exit the recording chamber from the at least one mirror.

[0020] The circumferential and axial extension of the at least one reflection barrier reduces the required installation space within the housing of the detection device. Other components, particularly circuit boards, of the detection device are thus not affected. The at least one reflection barrier can be arranged in a space-saving manner within the housing of the detection device. The deflecting mirror assembly can be optically shielded efficiently and in a space-saving manner using the at least one reflection barrier.

[0021] The axis can coincide with a central axis of the at least one reflection barrier, an installation / removal axis of the at least one reflection barrier in a housing of the detection device, a connecting axis of a housing part to which the reflection barrier can be connected, with another housing part of the housing, and / or a rotational axis of the at least one mirror of the deflecting mirror device. The axis can also be the axis of a drive shaft of a motor or be defined by corresponding rotary bearings of the at least one mirror. When terms such as "radial," "coaxial," "axial," "tangential," "circumferential," "concentric," "eccentric," or the like are used, unless otherwise stated, this refers to the axis. "Circular" refers to imaginary surfaces surrounding the axis. "Optical" within the meaning of the invention refers to light in the visible or invisible range, particularly in the near-infrared range.Optical rays are light.

[0022] The LiDAR-based detection device uses a LiDAR method to determine distances, directions and / or velocities of objects within a monitoring area of ​​the detection device relative to the detection device.

[0023] Advantageously, the LiDAR-based detection device can operate according to a signal-time-of-flight method, in particular a signal-pulse-time-of-flight method. Scanning light signals are transmitted into a monitoring area. If an object is located in the monitoring area, the scanning light signals are reflected by it. Scanning light signals reflected towards the detection device are received by the detection device as echo light signals.

[0024] Advantageously, the LiDAR-based detection device can be designed as a scanning system. In this configuration, a monitoring area can be scanned using the scanning light signals. The propagation direction of the scanning light signals can be swiveled across the monitoring area. This can be achieved by using at least one rotatable mirror to change, in particular swivel, the propagation direction of the optical scanning signals and / or the field of view for the optical echo signals.

[0025] The invention can be used in vehicles. A key functional characteristic of a vehicle is its ability to move. Vehicles can be motor vehicles. Advantageously, the invention can be used in land vehicles, in particular cars, trucks, buses, motorcycles, drones, mobile robots, mobile machinery, in particular construction or transport machinery such as cranes, excavators, or the like, aircraft, in particular drones, and / or (under)water vehicles, in particular (under)water drones. The invention can also be used in vehicles that can be operated autonomously or semi-autonomously. However, the invention is not limited to vehicles. It can also be used in stationary operation.In an advantageous embodiment, the at least one reflection barrier can extend continuously over at least one-fifth, in particular at least half, in particular three-quarters, of the axial extent of the at least one mirror surface with respect to the axis. In this way, the at least one mirror surface is largely shielded by the at least one reflection barrier. This efficiently prevents unwanted optical rays from reaching the at least one mirror surface or unwanted optical rays from the at least one mirror surface from escaping the area of ​​the mirror as ghost reflections.

[0026] In a further advantageous embodiment, the at least one reflection barrier can extend beyond the at least one mirror surface on at least one, and in particular on both, axial sides. In this way, the edge regions of the at least one mirror surface can also be efficiently shielded by the at least one reflection barrier.

[0027] Advantageously, at least one reflection barrier can extend beyond at least one mirror surface on both axial sides. In this way, at least one mirror surface can be optically shielded over its entire axial extent.

[0028] In a further advantageous embodiment, the at least one reflection barrier can at least partially surround a rear portion of a receiving chamber for the at least one mirror with respect to the axis in the axial direction and circumferential direction. In this way, the passive part of the mirror, which in the corresponding rotational position is located outside the field of view of the at least one receiving device and outside the illumination field of the at least one transmitting device, can be shielded by the at least one reflection barrier. The rear portion of the receiving chamber is located on the side radially opposite a transmission opening of the receiving chamber for scanning signals and / or echo signals with respect to the axis.In the rear part of the recording chamber is the portion of the at least one mirror that is passive in its respective rotational position, meaning it is not, and should not be, affected by the scanning or echo signals. The portion of the at least one mirror that is active in its respective rotational position, meaning it is, and should be, affected by echo and / or scanning signals, is located behind the aperture. The passive portion of the mirror in its respective rotational position is not in the path of the optical scanning or echo signals, whereas the active portion of the mirror is in the path of the optical scanning and / or echo signals.

[0029] In a further advantageous embodiment, the at least one reflection barrier can be located at least partially at the same axial height as at least a part of at least one transmitting output element of the at least one transmitting device and / or as at least a part of at least one receiving input element of the at least one receiving device. In particular, the at least one transmitting output element and / or the at least one receiving input element can be located completely within the axial limits that extend circumferentially from the axial edges of the at least one reflection barrier. In this way, unwanted optical rays emanating from the at least one transmitting output element and / or unwanted optical rays coming in the direction of the at least one receiving input element can also be shielded.

[0030] Advantageously, the at least one receiving input element can be located entirely within the axial boundaries that extend circumferentially along the edges of the at least one reflection barrier relative to the axis. In this way, unwanted optical rays can be shielded over the entire axial extent of the transmitting output element and / or over the entire axial extent of the receiving input element.

[0031] Advantageously, the transmitting output element of the at least one transmitting device can comprise or consist of an optical system, in particular an optical lens. In this way, optical scanning light signals coming from a light source of the at least one transmitting device can be shaped by the transmitting output element, in particular focused onto the at least one mirror. The transmitting output element is the last optical element of the transmitting device on the optical path of the scanning light signals. The transmitting output element forms the output of the transmitting device for the scanning light signals. Advantageously, the at least one receiving input element of the at least one receiving device can comprise at least one optical system, in particular an optical lens.In this way, optical echo light signals coming from the at least one mirror can be shaped by the receiving input element, in particular focused onto at least one receiver of the at least one receiving device. The receiving input element is the first optical element of the receiving device on the optical path of the echo light signals coming from the mirror. The transmitting output element forms the input of the receiving device for the echo light signals.

[0032] In a further advantageous embodiment, the at least one mirror can have at least two, in particular four, mirror surfaces and / or the at least one mirror surface can be arranged on one side of a polyhedron, in particular a cube or cuboid.

[0033] Advantageously, the at least one mirror can have at least two reflective surfaces. In this way, when the mirror is rotated accordingly, one of the reflective surfaces faces the transmitting device, while the other faces the receiving device. Thus, the scanning light signals coming from the transmitting device of the detection device can be directed into a monitoring area simultaneously with one reflective surface, while the reflected echo light signals coming from the monitoring area are directed to the at least one receiving device with the other reflective surface. In this way, the monitoring area can be scanned by changing the rotational position of the mirror.

[0034] Advantageously, the mirror can have at least four reflective surfaces. In this way, the mirror can be continuously rotated in one direction, with one reflective surface always facing the transmitting device and another facing the receiving device.

[0035] Advantageously, at least one mirror surface can be arranged on one side of a polyhedron. In this way, multiple mirror surfaces can be arranged on the mirror. The mirror can be rotated about its axis of rotation, which can be aligned with the axis. The monitored area can thus be scanned more evenly by rotating the multiple mirror surfaces.

[0036] Advantageously, the solid of revolution can be a cube or a cuboid. A cube or cuboid can be arranged such that four of its faces each form circumferential mirror surfaces with respect to the axis. In this way, a total of four circumferential mirror surfaces can actually be created.

[0037] In a further advantageous embodiment, a transmitting output element of the at least one transmitting device can be directed towards a passage opening which extends between the circumferential edges of the at least one reflection barrier with respect to the axis, and / or a receiving input element of the at least one receiving device can be directed towards a passage opening which extends between the circumferential edges of the at least one reflection barrier with respect to the axis, and / or a transmitting output element of the at least one transmitting device and a receiving input element of the at least one receiving device can be arranged on sides opposite the axis with respect to a plane.

[0038] Advantageously, the transmitting output element of the at least one transmitting device can be directed towards a transmission aperture which extends between the circumferential edges of the at least one reflection barrier with respect to the axis. In this way, scanning light signals coming from the transmitting output element can pass through the transmission aperture to the at least one mirror.

[0039] Advantageously, the receiving input element of the at least one receiving device can be directed towards a transmission aperture which extends between the circumferential edges of the at least one reflection barrier with respect to the axis. In this way, echo light signals coming from the at least one mirror can reach the receiving input element through the transmission aperture.

[0040] Advantageously, the at least one transmitting output element and the at least one receiving input element can be directed towards the same aperture of the at least one reflection barrier. In this way, only one aperture is required.

[0041] The at least one reflection barrier extends over a portion of the circumference of the axis. The portion of the circumference not covered by the at least one reflection barrier forms the aperture of the reflection barrier. The opposing edges of the at least one reflection barrier are the circumferential edges with respect to the axis. The aperture extends circumferentially between these circumferential edges.

[0042] Advantageously, a transmitting output element of the at least one transmitting device and a receiving input element of the at least one receiving device can be arranged on sides opposite each other with respect to a plane with respect to the axis. In this way, the transmitting output element and the receiving input element can be arranged in a line. Thus, the at least one transmitting device, the at least one receiving device, and the at least deflecting mirror device can be arranged in a space-saving manner.

[0043] In a further advantageous embodiment, the extent of the reflection barrier in the direction of the axis can be greater than the wall thickness of the reflection barrier radial to the axis.

[0044] Advantageously, the axial extent of at least one reflection barrier can be greater than the radial wall thickness of at least one reflection barrier. This allows for area coverage. Thus, the reflection barrier can efficiently block light propagating radially inward or outward with respect to the axis. In contrast, reflection blocking plates known from the prior art can only block light propagating in the axial direction.

[0045] Advantageously, the wall thickness of at least one reflection barrier can be in the millimeter range, particularly less than 1 cm. This allows the reflection barrier to be manufactured with minimal material usage, thus reducing its weight.

[0046] Advantageously, the axial extent of the at least one reflection barrier can be in the centimeter range, particularly in the range of a few centimeters. In this way, with sufficient wall thickness, efficient light blocking in the axial direction can be achieved.

[0047] In an advantageous embodiment, the at least one reflection barrier can surround the axis over a circumferential angle of between 45° and 315°, in particular between 170° and 190°. In this way, it can be achieved that the aperture of the reflection barrier, through which desired optical signals can pass, can be positioned, in particular optical scanning signals from a transmitting device of the detection device, which are to be deflected into a monitoring area by the deflecting mirror device, and / or optical echo signals, which are to be deflected to a receiving device by the deflecting mirror device.

[0048] With a circumferential angle between 170° and 190°, approximately half the circumference of the axis can be covered by the reflection barrier. In this way, at least one cube-shaped or cuboid mirror can be arranged within the reflection barrier. The receiving and transmitting units of the detection device can be arranged in a line, so that when the at least one mirror is in a rotational position for LiDAR measurements, one mirror surface faces the receiving unit and the adjacent mirror surface faces the transmitting unit. The mirror surfaces not required for the current LiDAR measurement, however, are recessed into the rear area of ​​the recording chamber, which is bounded by the reflection barrier, thus being optically covered by it.

[0049] In a further advantageous embodiment, the at least one reflection barrier can have a cylindrical shape, in particular a straight cylindrical and / or circular cylindrical shape. In this way, at least one mirror can be rotated in a receiving space bounded by the at least one reflection barrier.

[0050] At least one mirror can easily be inserted into the receiving space of a straight cylindrical reflective barrier.

[0051] Within a circular cylindrical reflection barrier, at least one mirror maintains a uniform distance from the radially inner circumferential side of the reflection barrier when rotating around the axis.

[0052] In a further advantageous embodiment, the at least one reflection barrier can have light-absorbing properties on its radially inner side and / or on its radially outer side, in particular a light-absorbing surface. In this way, light incident on the reflection barrier can be absorbed. Thus, reflections at the reflection barrier can be suppressed.

[0053] In a further advantageous embodiment, the at least one reflection barrier can be arranged on a housing part of a housing of the detection device and / or the at least one reflection barrier can be connected to a housing part of a housing of the detection device, in particular integrally connected. In this way, the reflection barrier can be held on the housing part.

[0054] Advantageously, the reflection barrier can be arranged on a housing component. This allows the reflection barrier to be held more stably and / or precisely.

[0055] Advantageously, at least one of the reflection barriers can be connected to the housing part. In this way, the reflection barrier can be mounted together with the housing part.

[0056] Advantageously, the reflection barrier can be integrally bonded to at least one housing component. This simplifies the manufacturing process, allowing for a more stable connection between the reflection barrier and the housing component.

[0057] In a further advantageous embodiment, the at least one reflection barrier can be connected to at least one optical barrier, in particular, the reflection barrier can be connected to at least one optical barrier extending radially outwards from the reflection barrier with respect to the axis, and / or the at least one reflection barrier can be connected to at least one optical barrier, in particular, integrally connected, and / or at least one optical barrier can be arranged next to a circumferential opening of the at least one reflection barrier with respect to the axis. In this way, unwanted optical rays outside the reflection barrier can be suppressed by means of the at least one optical barrier. Thus, unwanted reflections can be further reduced.

[0058] Advantageously, the at least one reflection barrier can be connected to at least one optical barrier extending radially outwards with respect to the axis. In this way, optical rays propagating along the outside of the reflection barrier can be blocked by the at least one further barrier.

[0059] Advantageously, the reflection barrier can be connected to at least one optical barrier. In this way, the optical barrier can be held against the reflection barrier, or vice versa.

[0060] Advantageously, the at least one reflective barrier can be integrally connected to at least one optical barrier. This allows the reflective barrier to be manufactured more easily together with the at least one optical barrier, particularly by means of a molding process such as injection molding or the like. Advantageously, the at least one reflective barrier and, optionally, the at least one optical barrier can be made of plastic or a composite material, in particular a plastic composite material. This allows the reflective barrier and, optionally, the at least one optical barrier to be easily manufactured by means of a molding process.

[0061] Advantageously, at least one optical barrier can extend over the entire axial extent of the reflection barrier. In this way, optical rays can be blocked more effectively across the entire extent of the reflection barrier, even outside of it.

[0062] Advantageously, at least one optical barrier can be arranged next to a circumferential opening of the reflective barrier. In this way, optical rays propagating laterally alongside the opening of the reflective barrier can be blocked. Thus, unwanted optical rays entering from the receiving chamber through the opening can be blocked, or optical rays propagating laterally towards the opening can be blocked.

[0063] Advantageously, at least one optical barrier can be designed to suppress optical reflections. In this way, unwanted optical rays can be reduced with the at least one optical barrier. Alternatively, the at least one optical barrier can be designed solely to block optical rays. Advantageously, the optical barrier can have light-absorbing surfaces. This further reduces optical reflections at the optical barrier.

[0064] Furthermore, the problem is solved according to the invention in the case of the reflection barrier wall by the fact that the reflection barrier wall is designed for a LiDAR-based detection device according to the invention.

[0065] According to the invention, the reflection barrier is designed such that it surrounds a mirror rotatable about an axis, at least partially, both circumferentially and axially. This allows unwanted optical rays to be blocked from the outside of the mirror and from the inside of the mirror.

[0066] Furthermore, the problem is solved according to the invention in the housing part by the fact that the housing part is connected to at least one reflection barrier wall and the housing part is designed for a LiDAR-based detection device according to the invention.

[0067] According to the invention, the housing part is connected to at least one reflection barrier. The at least one reflection barrier is held together with the housing part and can be mounted with it. The reflection barrier according to the invention surrounds an axis both circumferentially and axially. In this way, a receiving space for at least one mirror of a deflecting mirror device is created within the reflection barrier. The receiving space can be closed off on an end face axial to the axis with a wall of the housing part. In this way, the at least one mirror is protected from this side against the ingress of optical radiation.

[0068] The at least one reflection barrier completely surrounds the axis, at least partially. In this way, the reflection barrier surrounds the receiving space for the at least one mirror, at least over a portion of its circumference. Thus, no optical radiation can reach or emanate from the at least one mirror on the circumference within the region of the reflection barrier.

[0069] Advantageously, the at least one reflection barrier can surround the axis over a circumferential angle of at least 45°. In this way, the reflection barrier covers at least one-eighth of the circumference of the receiving space for the at least one mirror.

[0070] Advantageously, the reflection barrier can continuously surround at least part of the axis. In this way, the reflection barrier can completely cover the circumferential side of the at least one mirror.

[0071] Advantageously, the housing component can be manufactured as a single piece with at least one reflective barrier. This allows the housing component and the reflective barrier to be prefabricated together in a stable and simpler manner.

[0072] Advantageously, the housing component can be made of or consist of plastic and / or composite material, in particular plastic composite material. This allows the housing component to be manufactured more easily using a molding process, possibly also together with at least one reflective barrier.

[0073] Furthermore, the object of the invention is achieved in the housing by the fact that at least one housing part of the at least two housing parts is connected to at least one reflection barrier wall and the housing is designed for a LiDAR-based detection device according to the invention.

[0074] In this way, at least one reflection barrier can be stably held to the housing part. At least one mirror of a deflecting mirror arrangement of the LiDAR-based detection device can be arranged in the area surrounded by the reflection barrier. The partial circumferential extension of the at least one reflection barrier allows a passage opening through which light can reach and emanate from the at least one mirror.

[0075] Furthermore, the problem is solved according to the invention in the deflection mirror device by the fact that the deflection mirror device has at least one reflection barrier wall and the deflection mirror device is designed for a LiDAR-based detection device according to the invention.

[0076] The at least one reflection barrier surrounds at least one mirror of the deflecting mirror assembly. In this way, unwanted optical rays propagating to or from the at least one mirror are blocked. The partially circumferential extent of the at least one reflection barrier leaves a passage opening through which desired optical signals, such as scanning light signals and echo light signals, can reach or emanate from the at least one mirror.

[0077] At least one of the mirrors is rotatable. In this way, the deflection direction of the deflecting mirror device can be changed by rotating the mirror. The reflection barrier surrounds at least part of the mirror. In this way, unwanted rays to or from the mirror can be blocked by the reflection barrier.

[0078] At least one of the reflection barriers does not completely surround the mirror. This leaves a transmission opening through which light, especially desired optical signals, can pass to or from the mirror.

[0079] Advantageously, the anti-reflective barrier can surround the mirror over a circumferential angle of at least 45°. In this way, the anti-reflective barrier covers at least one-eighth of the mirror's circumference.

[0080] Advantageously, the reflection barrier can completely surround at least part of the mirror. This prevents gaps through which optical rays can pass to or from the mirror.

[0081] Furthermore, the features and advantages described in connection with the LiDAR-based detection device, the reflection barrier, the housing component, the housing, and the deflecting mirror device according to the invention, and their respective advantageous embodiments, apply to each other accordingly and vice versa. The individual features and advantages can, of course, be combined with one another, potentially resulting in further advantageous effects that go beyond the sum of the individual effects.

[0082] Brief description of the drawings

[0083] Further advantages, features, and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are explained in more detail with reference to the drawing. The person skilled in the art will expediently consider the features disclosed in the drawing, the description, and the claims individually and combine them into meaningful further combinations. Figure 1 schematically shows a vehicle with a LiDAR system comprising a transmitter, a receiver, and a deflecting mirror device;

[0084] Figure 2 shows a three-dimensional representation of part of a LiDAR system according to a first embodiment, which can be used in the vehicle from Figure 1, in which a mirror of the deflecting mirror device is surrounded by a reflection barrier;

[0085] Figure 3 shows a three-dimensional representation of the part of the LiDAR system from Figure 2 from a different perspective;

[0086] Figure 4 shows a side view of the part of the LiDAR system from Figures 2 and 3;

[0087] Figure 5 shows a top view of the part of the LiDAR system shown in Figures 2 to 4;

[0088] Figure 6 shows a three-dimensional representation of part of a LiDAR system according to a second embodiment, which can be used in the vehicle from Figure 1, in which a mirror of the deflecting mirror device is surrounded by a reflection barrier wall which is connected to a housing cover;

[0089] Figure ? A three-dimensional representation of the part of the LiDAR system from Figure 6 from a different perspective;

[0090] Figure 8 shows a side view of the part of the LiDAR system from Figures 6 and 7;

[0091] Figure 9 shows a three-dimensional representation of the housing cover of the LiDAR system from Figures 6 to 8;

[0092] Figure 10 shows a three-dimensional representation of part of a LiDAR system according to a third embodiment, which can be used in the vehicle from Figure 1, in which a mirror of the deflecting mirror device is surrounded by a reflection barrier;

[0093] Figure 11 shows a three-dimensional representation of the part of the LiDAR system from Figure 10 from a different perspective;

[0094] Figure 12 shows a side view of the part of the LiDAR system from Figures 10 and 11;

[0095] Figure 13 shows a top view of the part of the LiDAR system shown in Figures 10 to 12;

[0096] Figure 14 shows a three-dimensional representation of part of a LiDAR system according to a fourth embodiment, which can be used in the vehicle from Figure 1, in which a mirror of the deflecting mirror device is surrounded by a reflection barrier connected to a housing cover; Figure 15 shows a three-dimensional representation of the housing cover of the LiDAR system from Figure 14;

[0097] Figure 16 shows a three-dimensional representation of the part of the LiDAR system from Figure 14 from a different perspective;

[0098] Figure 17 shows a side view of the part of the LiDAR system from Figure 14.

[0099] In the figures, identical components are labelled with the same reference symbols.

[0100] embodiment(s) of the invention

[0101] Figure 1 shows a vehicle 10. The vehicle 10 comprises a LiDAR-based detection device in the form of a scanning LiDAR system 12. The LiDAR system 12 comprises a housing 14. A transmitter 16, a receiver 18, and a deflecting mirror 20 are arranged in the housing 14.

[0102] The transmitter 16 can generate scanning light signals 22 and transmit them to the deflecting mirror device 20. The scanning light signals 22 can be deflected by the deflecting mirror device 20 into a monitoring area 24. Scanning light signals 22 reflected by objects 26 in the monitoring area 24 can reach the deflecting mirror device 20 as echo light signals 26 and be deflected by it to the receiving device 18. The receiving device 18 can convert the echo light signals 26 into electrical signals. Based on the travel time of the scanning light signals 22 and the echo light signals 26, the distance of the object 26 to the LiDAR system 12 can be determined.

[0103] The deflecting mirror device 20 allows the propagation direction of the scanning light signals 22 to be swiveled within the monitoring area 24. In this way, the monitoring area 24 can be scanned with the scanning light signals 22. The direction of the detected object 26 relative to the LiDAR system 12 can be determined from the setting of the deflecting mirror device 20.

[0104] Figures 2 to 5 show a part of the LiDAR system 12 according to a first embodiment from different perspectives. Figures 2 to 5 show the deflecting mirror device 20, a transmitting lens 30 of the transmitting device 16 (not shown otherwise for clarity), a receiving lens 32 of the receiving device 18 (not shown otherwise for clarity), a reflection barrier 34, a motor circuit board 36, and a main circuit board 38.

[0105] The transmitting lens 30 forms an optical transmitting output element of the transmitting device 16. The transmitting output element, namely the transmitting lens 30, is the last optical element of the transmitting device 16 on the optical path of the scanning light signals 22. The receiving lens 32 forms an optical receiving input element of the receiving device 18. The receiving input element, namely the receiving lens 32, is the first optical element of the receiving device 18 on the optical path of the echo light signals 28.

[0106] The deflecting mirror device 20 comprises a mirror 40. The mirror 40 is approximately cuboid in shape. The mirror 40 is rotatably mounted about an axis 42 on a motor (not shown for clarity). The motor, in turn, is mounted on the motor circuit board 36.

[0107] The axis 42 extends through the central axis of the cuboid mirror 40. On the four sides radially outer with respect to the axis 42, the mirror 40 has a total of four mirror surfaces 44.

[0108] The axis 42 coincides with a central axis of the reflection-blocking wall 34, an installation / removal axis of the reflection-blocking wall 34 in the housing 14 of the LiDAR system 12, a connecting axis of a housing cover 62 (used in further embodiments described below, to which the reflection-blocking wall 34 may be connected), another housing part of the housing 12 (not shown in the figures), and a rotation axis of the mirror 40. Furthermore, the axis 42 coincides with the drive shaft of a motor (not shown for clarity). The axis 42 is also defined by the corresponding rotational bearings of the mirror 40 (not shown). When terms such as "radial," "coaxial," "axial," "tangential," "circumferential," "concentric," "eccentric," or similar are used, they refer to the axis 42 unless otherwise stated. "Circular" refers to imaginary surfaces surrounding the axis 42.

[0109] The reflection barrier 32 has approximately the shape of a section of a circular cylinder with axis 42. The mirror 40 and the axis 42 are enclosed by the reflection barrier 34 over slightly more than half of their circumference. The reflection barrier 34 surrounds the axis 42 and the mirror 40 circumferentially over a circumferential angle 46 of slightly more than 180° and is continuous in the axial direction.

[0110] The reflective barrier 32 surrounds a receiving chamber 47 for the mirror 40 over part of its circumference. The reflective barrier 32 has a light-transmitting opening 49 on the side facing the monitoring area 24. The light-transmitting opening 49 extends circumferentially with respect to the axis 42 over an angle of slightly less than 180°.

[0111] The reflection barrier 34 extends beyond the mirror surfaces 44 on the side facing axially away from the motor circuit board 36 and the main circuit board 38, respectively. On the side facing axially towards the motor circuit board 36, the mirror surfaces 44 extend beyond the reflection barrier 34.

[0112] The reflection barrier 34 has an axial extent 48 of several centimeters with respect to the axis 42. The axial extent 48 of the reflection barrier 34 is greater than the wall thickness 51 of the reflection barrier 34. The wall thickness 51 of the reflection barrier 34 is, for example, in the range of several millimeters. The axial extent 48 of the reflection barrier 34 is somewhat smaller than the axial extent 50 of the mirror surfaces 44.

[0113] The reflection barrier 34 has a light-absorbing surface on its radially inner circumferential side with respect to the axis 42 and on its radially outer circumferential side.

[0114] The reflection barrier 34 is attached, with its side facing axially away from the motor circuit board 36 and the main circuit board 38, to a housing part of the housing 14 (not shown in Figures 2 to 5 for clarity). Alternatively, the reflection barrier 34 can also be attached to one of the circuit boards, for example, the main circuit board 38.

[0115] The motor circuit board 36 and the main circuit board 38 each extend perpendicular to the axis 42. The motor for driving the mirror 40 is attached to the motor circuit board 36. The main circuit board 38 is located next to the mirror 40. The edge of the reflection barrier 34 facing axially towards the motor circuit board 36 is located on the side of the main circuit board 38 facing away from the motor circuit board 36.

[0116] For the sake of clarity, the edges of the reflection barrier 34, the transmitting lens 30, and the receiving lens 32 located on the side axially facing the motor circuit board 36 will be referred to as "lower edges." Similarly, the edges of the reflection barrier 34, the transmitting lens 30, and the receiving lens 32 located on the side axially facing away from the motor circuit board 36 will be referred to as "upper edges." For the sake of clarity, "lower" and "upper" refer only to the representation in Figures 1 to 4 and do not necessarily reflect the actual spatial arrangement of the LiDAR system 12.

[0117] The main circuit board 38 has a recess 52. The edge of the recess 52 facing the axis 42 has the shape of a circular arc around the axis 42 when viewed axially. The edge of the recess 52 is approximately aligned with a radially inner circumferential side of the reflection barrier 34 when viewed axially. The mirror 40 can rotate freely in the recess 52.

[0118] The transmitting lens 30 and the receiving lens 32 are arranged on opposite sides of a plane 54, which contains the axis 42. The plane 54 intersects the aperture 49 centrally. The transmitting lens 30 is directed towards one side of the aperture 49. The receiving lens 32 is directed towards the other side of the aperture 49.

[0119] As shown in Figure 4, the lower edge of the transmitting lens 30 is located slightly below the axial height of the lower edge of the reflection barrier 34. The lower edge of the receiving lens 32 is located slightly below the axial height of the lower edge of the reflection barrier 34. For clarity, the axial height is considered from the motor circuit board 36. "Below the lower edge of the reflection barrier 34" therefore means closer to the motor circuit board 36 than the lower edge of the reflection barrier 34.

[0120] The lower edge of the reflection barrier 34 is located at the same axial height as the lower region of the transmitting lens 30. The upper region of the transmitting lens 30 is located at the same axial height as an axial central region of the reflection barrier 34. Therefore, the reflection barrier 34 is partially located at the same axial height as the transmitting output element, namely the transmitting lens 30.

[0121] The lower edge of the reflection barrier 34 is located at the same axial height as the lower region of the receiving lens 32. The upper region of the receiving lens 32 is located at the same axial height as the upper region of the reflection barrier 34. Therefore, the reflection barrier 34 is partially located at the same axial height as the receiving input element, namely the receiving lens 32.

[0122] An optical axis 58 of the transmitting lens 30 passes through the aperture 49 of the reflection barrier 34, as shown in Figure 5. Likewise, an optical axis 60 of the receiving lens 32 passes through the aperture 49 of the reflection barrier 34.

[0123] In the rotational positions of the mirror 40 in which scanning signals 22 are transmitted for LiDAR measurements, the optical axis 58 of the transmitting lens 30 intersects one of the mirror surfaces 44, while the optical axis 60 of the receiving lens 42 intersects the adjacent mirror surface 44. In this rotational position of the mirror 40, the scanning light signals 22 generated by the transmitting device 16 are directed into the monitoring area 24 by the corresponding mirror surface 44, which faces the monitoring area 24. The adjacent mirror surface 44, which faces the receiving lens 32, is also oriented towards the monitoring area 24. Thus, echo light signals 28 coming from the monitoring area 24 can intersect this mirror surface 44 and be directed by it to the receiving lens 32.The parts of the mirror 40 which, in the respective rotational position, are struck by the optical axis 58 of the transmitting lens 30 or by the optical axis 60 of the receiving lens 42, i.e., lie in the beam path of the scanning light signals 22 or in the beam path of the echo light signals 28, are referred to as active parts of the mirror 40.

[0124] The reflection barrier 34 largely encloses the area containing the mirror 40, the transmitting lens 30, and the receiving lens 32. The reflection barrier 34 surrounds a rear portion of the receiving chamber 47, in which the mirror 40 is located, axially and circumferentially with respect to the axis 42. The reflection barrier 34 surrounds the passive portion of the mirror 40 in the corresponding rotational position. The passive portion of the mirror 40 is the portion that, in the corresponding rotational position, is located within the rear portion of the receiving chamber 47. The rear portion of the receiving chamber 47 is located on the side radially opposite the aperture 49. The passive portion of the mirror 40, in the corresponding rotational position, should not be affected by scanning light signals 22 and echo light signals 28. The passive part of the mirror 40 is not in the beam path of the scanning light signals 22 and in the beam path of the echo light signals 28.The reflection barrier 34 is designed to optically shield the passive part of the mirror 40 from optical rays, such as unwanted optical reflections, from the outside of the mirror 40 and from the outside of the mirror 40. Unwanted light rays are absorbed and thus blocked at the surfaces of the reflection barrier 34. In this way, unwanted optical reflections, so-called ghost reflections, within the housing 14, which can adversely affect the scanning light signals 22 and the echo light signals 28, are reduced.

[0125] Figures 6 to 9 show a part of the LiDAR system 12 according to a second embodiment. Those elements similar to those of the first embodiment shown in Figures 2 to 5 are designated with the same reference numerals. The second embodiment differs from the first in that the reflection barrier 34 is integrally connected to a housing part 62 of the housing 14. The housing part 62 can, for example, be a housing cover. The housing part 62 with the reflection barrier 34 can be considered a "modular housing part" in which the reflection barrier 34 is part of the housing part 62.

[0126] Figures 10 to 13 show a portion of a LiDAR system 12 according to a third embodiment. Elements similar to those of the first embodiment shown in Figures 2 to 5 are designated with the same reference numerals. The third embodiment differs from the first in that it additionally provides two optical baffles 64. The baffles 64 serve to block unwanted light beams within the LiDAR system 12. The baffles 64 are integrally formed with the reflection baffle 34. The baffles 64 are located on opposite sides of the plane 54 and the axis 42. Each baffle 64 is located next to the aperture 49. The baffles 64 extend radially outward from the radially outer circumferential side of the reflection baffle 34. The baffles 64 are each designed as flat, approximately rectangular walls.

[0127] The barrier walls 64 optically separate the area radially surrounding the reflection barrier wall 34 from the areas with the transmitting lens 30 on one side and the receiving lens 32 on the other side.

[0128] The barrier walls 64 each extend over the entire axial extent 48 of the reflection barrier wall 34.

[0129] Furthermore, in contrast to the first embodiment, the reflection barrier 34 extends almost to the motor circuit board 36. The reflection barrier 34 projects beyond the mirror surfaces 44 on the side axially facing the motor circuit board 36.

[0130] Furthermore, the transmitting output element, namely the transmitting lens 30, and the receiving output element, namely the receiving lens 32, are located completely within the axial limits which extend circumferentially along the edges of the at least one reflection barrier 34 axial with respect to the axis 42.

[0131] The reflection barrier 34 extends through the recess 52 of the main circuit board 38. In this way, the reflection barrier 34 also covers the area between the motor circuit board 36 and the main circuit board 38. Thus, unwanted light rays can also be blocked between the motor circuit board 36 and the main circuit board 38.

[0132] Figures 14 to 17 show a part of a LiDAR system 12 according to a fourth embodiment. Those elements similar to those of the third embodiment shown in Figures 10 to 13 are designated with the same reference numerals. The fourth embodiment differs from the third embodiment in that the reflection barrier 34, the barrier walls 64, and the housing part 62 are implemented as a single unit, analogous to the second embodiment shown in Figures 6 to 9.

Claims

Claims 1. LiDAR-based detection device (12), in particular a LiDAR-based detection device (12) for a vehicle (10), comprising at least one transmitter (16) for transmitting optical scanning signals (22), at least one receiver (18) for receiving optical echo signals (28) originating from scanning signals (22) reflected in a monitoring area (24) of the detection device (22), at least one deflecting mirror device (20) for deflecting optical signals (22, 28), which comprises at least one mirror (40) rotatable about an axis (42) with at least one mirror surface (44), and at least one reflection barrier (34) that surrounds at least one mirror (40) with respect to the axis (42) at least partially, characterized in that the at least one reflection barrier (34) surrounds a part of the at least one mirror (40) in the axial direction with respect to the axis (42) and in circumferential direction so that it surrounds,that it covers the at least one mirror (40) in this part to block optical rays propagating from radially outside to radially inside with respect to the axis (42) to the at least one mirror (40) and to block optical rays propagating from the mirror (40) from radially inside to radially outside.

2. LiDAR-based detection device according to claim 1, characterized in that the at least one reflection barrier (34) extends continuously over at least one fifth, in particular at least half, in particular three quarters, of the axial extent (50) of the at least one mirror surface (44) with respect to the axis (42).

3. LiDAR-based detection device according to claim 1 or 2, characterized in that the at least one reflection barrier (34) extends beyond the at least one mirror surface (44) on at least one, in particular on both, axial sides with respect to the axis (42).

4. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) surrounds a rear part of a receiving chamber (47) for the at least one mirror (40) with respect to the axis (42) in the axial direction and in the circumferential direction at least to a part in a continuous manner.

5. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) is located at least partially at the same axial height as at least one part of at least one transmit output element (30) of the at least one transmitting device (16) and / or as at least one part of at least one receive input element (32) of the at least one receiving device (18), in particular that the at least one transmit output element (30) and / or the at least one receive input element (32) are located completely within the axial limits which extend circumferentially along the edges of the at least one reflection barrier (34) that are axial with respect to the axis (42).

6. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one mirror (40) has at least two, in particular four, mirror surfaces (44) and / or the at least one mirror surface (44) is arranged on a side of a polyhedron, in particular a cube or cuboid.

7. LiDAR-based detection device according to one of the preceding claims, characterized in that a transmitting output element (30) of the at least one transmitting device (16) is directed towards a passage opening (49) which extends between the circumferential edges of the at least one reflection barrier (34) with respect to the axis (42), and / or a receiving input element (32) of the at least one receiving device (18) is directed towards a passage opening (49) which extends between the circumferential edges of the at least one reflection barrier (34) with respect to the axis (42), and / or a transmitting output element (30) of the at least one transmitting device (16) and a receiving input element (32) of the at least one receiving device (18) are arranged on sides opposite the axis (42) with respect to a plane (54).

8. LiDAR-based detection device according to one of the preceding claims, characterized in that the extent (48) of the at least one reflection barrier wall (34) in the direction of the axis (42) is greater than a wall thickness (51) of the reflection barrier wall (34) radial to the axis (42).

9. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) surrounds the axis (42) over a circumferential angle (46) of between 45° and 315°, in particular between 170° and 190°.

10. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) has a cylindrical shape, in particular a straight cylindrical and / or circular cylindrical shape.

11. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) has light-absorbing properties on its radially inner side with respect to the axis (42) and / or on its radially outer side, in particular having a light-absorbing surface.

12. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) is arranged on a housing part (62) of a housing (14) of the detection device (12) and / or the at least one reflection barrier (34) is connected to a housing part (62) of a housing (14) of the detection device (12), in particular is connected in one piece.

13. LiDAR-based detection device according to one of the preceding claims, characterized in that the at least one reflection barrier (34) is connected with at least one optical barrier. (64) is connected, in particular the reflection barrier (34) is connected to at least one optical barrier (64) extending radially outwards from the reflection barrier (34) with respect to the axis (42), and / or the at least one reflection barrier (34) is connected to at least one optical barrier (64), in particular is connected in one piece, and / or at least one optical barrier (64) is arranged next to a circumferential passage opening (49) of the reflection barrier (34) with respect to the axis (42).

14. Reflection barrier (34) for a deflecting mirror device (20) for a LiDAR-based detection device (12), in particular for a LiDAR-based detection device (12) for a vehicle (10), characterized in that the reflection barrier (34) for a LiDAR-based detection device (12) is configured according to one of claims 1 to 13.

15. Housing part (62) for a LiDAR-based detection device (12), in particular for a LiDAR-based detection device (12) for a vehicle (10), with at least one reflection barrier (34), characterized in that the housing part (62) is connected to at least one reflection barrier (34) and the housing part (62) for a LiDAR-based detection device (12) is configured according to one of claims 1 to 13.

16. Housing (14) for a LiDAR-based detection device (12), in particular for a LiDAR-based detection device (12) for a vehicle (10), comprising at least two housing parts (62) and at least one reflection barrier (34), characterized in that at least one housing part (62) of the at least two housing parts (62) is connected to at least one reflection barrier (34) and the housing (14) for a LiDAR-based detection device (12) is configured according to one of claims 1 to 13.

17. Deflection mirror device (20) with at least one mirror (40) rotatable about an axis (42) and at least one reflection barrier (34), wherein the at least one reflection barrier (34) deflects the at least one mirror (40) with respect to the axis (42) surrounds at least a part of the area, characterized in that the deflecting mirror device (20) has at least one reflection barrier wall (34) and the deflecting mirror device (20) is configured for a LiDAR-based detection device (12) according to one of claims 1 to 13.

Images