Lidar sensor having a specific adjustment unit for an optical module, and method for positioning an optical module of a lidar sensor

Abstract

One aspect of the invention relates to a LIDAR sensor (1) for a vehicle, comprising a housing (2) equipped with a receiving space (5) in which at least one optical module (7) is provided, wherein the optical module (7) is provided on a support (10) of the LIDAR sensor (1) and, together with an adjusting unit (11) of the LIDAR sensor (1), can be rotated about an axis (A), and the adjusting unit (11) has an elastic adjusting element (13), which is provided on the support (10), and a separately adjustable adjusting element (12), which acts on the optical module (7) during an adjustment process and presses the optical module (7) against the elastic adjusting element (13) about the axis (A) such that an elastic pretension is formed and a rotational adjustment position which is set about the axis (A) is set under pretension. One aspect of the invention relates to a method for positioning an optical module of a LIDAR sensor.

Description

[0001] 2023PF01072

[0002] 1

[0003] LiDAR sensor with specific adjustment unit for an optical module, and method for positioning an optical module of a LiDAR sensor

[0004] One aspect of the invention relates to a LiDAR sensor. The LiDAR sensor has a housing, which can also be referred to as an outer housing. A receiving chamber is formed within the housing, in which at least one optical module is arranged. The invention also relates to a method.

[0005] With a LiDAR sensor or laser scanner, it is essential that the components are fixed in position. This is particularly important for transmitting and receiving signals to ensure reliable and accurate operation.

[0006] The object of the present invention is to create a LIDAR sensor in which the adjustment of an optical module is improved.

[0007] This task is solved by a LIDAR sensor and a method according to the independent claims.

[0008] One aspect of the invention relates to a LiDAR sensor. The LiDAR sensor can also be described as a laser-based detection unit. The LiDAR sensor is particularly sensitive in the infrared range. The LiDAR sensor has a housing. This can also be referred to as an outer housing. A receiving chamber is formed within the housing, in which at least one optical module is arranged.

[0009] The LIDAR sensor comprises, as an optical module, in particular a laser unit or laser module and / or a receiver unit or receiver module. The laser unit emits electromagnetic beams preferably in a wavelength range between 800 nm and 1600 nm, in particular between 850 nm, 905 nm, or 1550 nm.

[0010] The optical module is mounted on a carrier of the LiDAR sensor. The LiDAR sensor also features an adjustment unit by means of which the optical module can be adjusted about a defined axis, in particular rotated. The adjustment unit includes an elastic adjustment element mounted on the carrier. Furthermore, 2023PF01072

[0011] 2. The adjustment unit has a separate, adjustable adjustment element in addition to the elastic adjustment element. The adjustable, non-elastic adjustment element is a primary element for positioning and adjusting the optical module. It is the initial adjustment element that acts on the optical module during adjustment, thus causing it to be pressed against the elastic adjustment element around its axis. This creates an elastic preload and establishes a preloaded rotational adjustment position around the aforementioned axis. Specifically, the rotational adjustment position is held under preload.

[0012] With such a LiDAR sensor, it is now possible to perform highly precise, individual adjustments—namely, a rotational movement of the optical module around a defined axis—so that an adjustment position, in this case a rotational adjustment position, can be set exactly. The specific adjustment unit for this purpose is relatively simple in its design and features a reduced number of components, yet it enables simple, fast, and highly precise rotary adjustment of the optical module. The interplay between the adjustable adjustment element and the elastically deformable adjustment element allows for a particularly advantageous, specific chain of action for initiating the movement on the optical module and guiding this adjustment movement. This prevents unwanted force peaks that could act on the optical module and lead to jerky or abrupt adjustments.By using an elastically deformable adjustment element that essentially accommodates the adjustment of the optical module, a certain degree of damping of the positional change of the optical module can also be achieved.

[0013] It is particularly advantageous that this set rotational adjustment position, through the continued simultaneous action—that is, the mechanical contact—of both the adjustable adjustment element and the elastic adjustment element on the optical module, enables a particularly secure retention of this rotational adjustment position. Undesired movements of the optical module out of this rotational adjustment position are thus effectively avoided.

[0014] This allows for particularly precise positioning of an optical module, especially in relation to other optical modules of the LiDAR sensor, which is very advantageous, particularly in the case of a LiDAR sensor. This is important for the overall functionality of 2023PF01072.

[0015] 3. to be able to achieve and coordinate with regard to the emitted laser beams and the received electromagnetic beams.

[0016] In one embodiment, the elastic adjusting element is a self-reversibly deformable adjusting element. It is possible, for example, that it is made of a suitable elastically deformable material. This could be, for instance, a pin-like, rib-like, or beam-like element made of an elastomer. It is particularly advantageous if this elastically deformable adjusting element is a spring element. This allows for very precise and consistently uniform deformations. Furthermore, a spring element is sufficiently robust to withstand corresponding stresses over the long term.

[0017] The elastic adjustment element, when considered as a whole, is fixed in position on a component of the LIDAR sensor, in particular the carrier.

[0018] In one embodiment, the adjustable adjusting element is a screw or a spindle.

[0019] The adjustable adjustment element is inherently rigid and therefore cannot be deformed. This allows movement relative to the support to be directly transferred to the optical module.

[0020] In particular, the adjustable adjustment element, when considered as a whole, is movable and arranged on a component of the LIDAR sensor, especially on the carrier.

[0021] This design of the adjustable adjustment element allows even the smallest movements relative to the optical module to generate a corresponding effect, enabling its movement around the aforementioned axis. A particular advantage in this context is that the screw or spindle design allows for a very continuous, and therefore smooth and homogeneous, force application to the optical module during adjustment. This avoids abrupt force applications and thus only very discrete and abrupt changes in the optical module's position.

[0022] In one embodiment, the elastic adjustment element and the adjustable, and in particular rigid, i.e., non-elastic, adjustment element are arranged on opposite sides of the optical module, in particular a housing of the optical module. This is shown in 2023PF01072.

[0023] 4 particularly advantageously enables a corresponding chain of action and an interaction of these two different adjustment elements in order to be able to rotate the optical module in a highly precise and finely adjusted position around the axis.

[0024] In particular, the axis between the two adjustment elements is oriented perpendicular to the axis about which the optical module is to be adjusted.

[0025] In one embodiment, the LIDAR sensor has a locking device with which the set rotational adjustment position can be fixed. This makes it particularly advantageous that this finely adjusted rotational adjustment position is not only maintained but also fixed with high stability. Thus, this rotational adjustment position is also maintained precisely and permanently.

[0026] In one embodiment, the fixing device has at least one fixing element. A fixing element is, in particular, designed as a fixing screw or a fixing bolt.

[0027] This allows for easy assembly and, on the other hand, ensures that the rotational adjustment position is mechanically fixed in a particularly stable manner. In particular, such fixing elements are also easy to handle, so that both the attachment and removal of such a fixing element are quick and easy.

[0028] In one embodiment, several fixing elements, in particular three fixing elements, especially fixing screws, are provided. This fulfills the aforementioned advantages to a particularly high degree.

[0029] In one embodiment, the fixing elements, in particular the fixing screws, may be arranged with their longitudinal axes parallel to each other and / or the fixing screws may be arranged with their longitudinal axes parallel to the axis about which the optical module is adjusted. These orientations further enhance the advantages mentioned above.

[0030] In one embodiment, the optical module is a receiver module of the LIDAR sensor. The LIDAR sensor can also include another optical module, which is a transmitter module. In particular, this transmitter module is a laser module that emits laser pulses or laser beams. These are primarily in the infrared range. Furthermore, the LIDAR sensor can include a mirror, in particular a rotating mirror, which interacts optically with the transmitter module and the receiver module. Thus, the 2023PF01072

[0031] 5

[0032] The transmitting module emits laser pulses from the LIDAR sensor, in particular through a window of the LIDAR sensor housing, and electromagnetic radiation from the environment, in particular a laser pulse reflected in the environment, is received again and is directed, in particular through the mirror, to the receiver module.

[0033] Another aspect of the invention relates to a method for positioning an optical module of a LiDAR sensor. In particular, the LiDAR sensor is configured according to the aspect mentioned above or an advantageous embodiment thereof. Specifically, the method comprises the following steps: a) mounting an optical module of the LiDAR sensor on a carrier within a housing, in particular a first housing part, and in particular in a pre-assembly position, such that the optical module is rotatably mounted on the carrier about an axis; b) actuating an adjustable adjustment element of an adjustment unit of the LiDAR sensor, such that the optical module is adjusted about the axis and pressed against an elastic adjustment element of the adjustment unit; c) achieving a rotational adjustment position of the optical module, pre-tensioned and set by the elastic adjustment element, which is held by the adjustment elements.

[0034] In particular, the elastic adjustment element is deformed when the optical module is pressed against it, and especially continuously compressed. This creates a preload that counteracts the movement, i.e., the movement of the optical module initiated by the adjustable adjustment element.

[0035] It is also possible with this method that the rotational adjustment position set by the adjustment unit is then fixed by a locking device of the LIDAR sensor. In particular, several locking elements, such as locking screws or one or more locking spindles, can be actuated accordingly to fix this rotational adjustment position.

[0036] Advantageous embodiments of the LIDAR sensor are also to be regarded as advantageous embodiments of the method. In particular, in this context, the components of the LIDAR sensor and / or their positions and / or 2023PF01072

[0037] 6. Their functionalities enable the respective process steps to be carried out during assembly, either alone or in interaction.

[0038] Exemplary embodiments of the invention will be explained in more detail below with reference to schematic drawings. These show:

[0039] Fig. 1 shows a perspective view of an embodiment of a LIDAR sensor according to the invention;

[0040] Fig. 2 shows a top view of a section of the LIDAR sensor according to Fig. 1 with an optical module and a specific adjustment unit; and

[0041] Fig. 3 shows an enlarged view of a section in Fig. 2.

[0042] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0043] Figure 1 shows an exploded view of an embodiment of an optical detection unit that operates, in particular, in the infrared using a laser. This detection unit is a vehicle detection unit. It is a LiDAR sensor 1. The LiDAR sensor 1 has a housing 2. The housing 2 comprises a first housing part 3 and a separate second housing part 4. When the housing 2 is closed, with the two housing parts 3 and 4 abutting and connected to each other, a receiving space 5 is formed, or rather, bounded by the walls of the housing parts 3 and 4. Components of the LiDAR sensor 1 are arranged in this receiving space 5. In particular, this can be a circuit board, or several circuit boards. Electrical connectors and the like can also be arranged in it. Optical modules are also arranged in it.

[0044] Housing parts 3 and / or 4 can, for example, be made of die-cast aluminum.

[0045] The LIDAR sensor 1 has a first optical module 6. This first optical module 6 is a transmitter unit or transmitter module. Specifically, it is a laser module that emits laser beams or laser pulses. Furthermore, the LIDAR sensor 1 has another optical module 7. This is a receiver module. It is therefore designed to detect electromagnetic radiation. 2023PF01072

[0046] 7

[0047] The system is designed to detect rays, particularly in the infrared range, entering the housing from the environment, especially through a window 4a. The receiver module, and thus the optical module 7, comprises a lens unit with at least one lens. Furthermore, this optical module 7 also includes a detector that is sensitive in the relevant wavelength range.

[0048] In the exemplary embodiment, the LIDAR sensor 1 also includes a mirror 8, in particular a rotating mirror 8. This mirror directs a laser pulse emitted by the optical module 6 through the window 4a from the housing 2 into the surroundings. Incident radiation is directed by this mirror 8 to the further optical module 7, i.e., the receiver module.

[0049] In addition, the embodiment also includes a heat sink 9, with which the optical module 7 can be cooled or heat can be dissipated from the optical module 7.

[0050] The LIDAR sensor 1 also has a support 10. This support 10 can, for example, be formed by a section of the housing part 3. However, the support 10 can also be a separate component from the housing part 3. The optical module 7 is arranged on this support 10, which is separate from the housing part 3. It is mounted on the support 10 in such a way that the optical module 7 can move relative to the support 10 in its arranged state. In particular, the optical module 7 can be moved about an axis A relative to the support 10, and in particular, rotated. This axis A is oriented perpendicular to a principal optical axis B of the optical module 7.

[0051] Furthermore, the LIDAR sensor 1 has an adjustment unit 11. This is designed and configured to adjust the optical module 7 about the axis A relative to the carrier.

[0052] In the exemplary embodiment, the adjustment unit 1 1 has an adjustable adjustment element 12. This element is designed to be rigid. This adjustable adjustment element 12 is arranged relative to the support 10, and in particular is arranged on the support 10, specifically for linear movement, and in particular only for linear movement. This adjustable adjustment element 12 is considered as a whole and is movable relative to the support 10 while maintaining its size and shape. In particular, this adjustable adjustment unit 12 can be a screw or a spindle. 2023PF01072

[0053] 8

[0054] Furthermore, the adjustment unit 11 has a separate elastic adjustment element 13, distinct from the adjustable adjustment element 12. This elastic adjustment element 13 is reversibly deformable. In particular, this elastic adjustment element 13 is a spring element.

[0055] As can be seen in Fig. 1, the adjustable adjustment element 12 and the elastic adjustment element 13 are arranged on opposite sides of a housing 14 of the optical module 7. In particular, they are arranged in a straight line connection on opposite sides of this housing 14 or are in contact with it.

[0056] The adjustment unit 11 is configured such that the adjustable adjustment element 12 initially acts on the optical module 7 to adjust it about axis A, thereby causing the optical module 7 to be pressed against the elastic adjustment element 13. This occurs in such a way that the optical module 7 assumes a pre-tensioned rotational adjustment position during this adjustment. This is because the movement of the optical module 7 about axis A, initiated by the action of the adjustable adjustment element 12, deforms the elastic adjustment element 13, specifically compressing it, so that it is pre-tensioned and thus pressed against the optical module 7 in a pre-tensioned state. This pre-tension also maintains this rotational adjustment position.

[0057] By designing the adjustable adjustment element 12 as a screw or spindle, a very continuous and finely metered action can be applied to the optical module 7 to move it about the axis A. In particular, this screw or spindle is coupled to a thread. The thread can be integrated into the carrier 10.

[0058] Furthermore, in one embodiment, the LIDAR sensor 1 has a fixing device 15, as shown in greater detail in the top view in Fig. 2. The fixing device 15 has several fixing elements 16, which are designed as fixing screws. In the top view in Fig. 2, the longitudinal axes of these fixing elements 16 are oriented perpendicular to the plane of the figure. In particular, axis A is also oriented perpendicular to the plane of the figure. As can be seen, three such fixing screws are provided. The fixing screws are arranged with their longitudinal axes parallel to each other. Moreover, the fixing screws are preferably arranged with their longitudinal axes parallel to axis A. 2023PF01072

[0059] 9

[0060] Figure 3 shows an enlarged view of a portion of the view in Figure 2, where the area containing the optical module 7 and the adjustment unit 11 is shown enlarged. Figure 3 also schematically illustrates the possible rotational movement C about the axis A that the optical module 7 can perform.

[0061] Furthermore, Fig. 3 also shows a reference element 17, which is intended for pre-positioning the optical module 7 on the carrier 10. This element 17 can, for example, be a corresponding bolt or pin.

[0062] In a method for positioning the optical module 7, the following steps are preferably carried out: a) Attaching the optical module 7 of the LIDAR sensor 1 to the carrier 10 in the housing 2, in particular the first housing part 3, in particular in a pre-assembly position, so that the optical module 7 is rotatably mounted on the carrier 10 about an axis A; b) Actuating the adjustable adjustment element 12 of the adjustment unit 1 1 of the LIDAR sensor 1, so that the optical module 7 is adjusted in its position about the axis A and is pressed against the elastic adjustment element 13 of the adjustment unit 11; c) Reaching a rotational adjustment position of the optical module 7 pre-tensioned and set by the elastic adjustment element 13, which is held by the adjustment elements 12, 13.

[0063] In particular, the rotational adjustment position thus set is fixed with the fixing device 15. Specifically, it is provided that the fixing elements 16 are mounted or brought into their end position, in particular that these fixing elements 16, designed as fixing screws, are screwed into their end positions.

[0064] The preferably set pre-assembly position of the optical module 7 on the carrier 10 can be achieved, for example, by the element 17. In particular, the optical module 7 can be arranged on the carrier such that the element 17 engages in a recess or a receptacle, for example a hole, of the optical module 7.

Claims

2023PF01072 Patent claims 1. LiDAR sensor (1) for a vehicle, comprising a housing (2) in which a receiving space (5) is formed in which at least one optical module (7) is arranged, characterized in that the optical module (7) is arranged on a carrier (10) of the LiDAR sensor (1) and is rotatable about an axis (A) with an adjustment unit (11) of the LiDAR sensor (1), wherein the adjustment unit (11) has an elastic adjustment element (13) which is arranged on the carrier (10) and has a separate adjustable adjustment element (12) which acts on the optical module (7) during adjustment and presses the optical module (7) about the axis (A) against the elastic adjustment element (13), so that an elastic preload is formed and a rotational adjustment position about the axis (A) is preloaded.

2. LIDAR sensor (1 ) according to claim 1 , characterized in that the elastic adjustment element (13) is a spring element.

3. LIDAR sensor (1 ) according to claim 1 or 2, characterized in that the adjustable adjustment element (12) is a screw or a spindle.

4. LIDAR sensor (1 ) according to one of the preceding claims, characterized in that the elastic adjustment element (13) and the adjustable adjustment element (12) are arranged on opposite sides of the optical module (7), in particular a housing (14) of the optical module (7).

5. LIDAR sensor (1) according to one of the preceding claims, characterized in that 2023PF01072 11 the LIDAR sensor (1 ) has a fixing device (15) with which the set rotation adjustment position can be fixed.

6. LIDAR sensor (1 ) according to claim 5, characterized in that the fixing device (15) has at least one fixing element (16), in particular a fixing screw or a fixing bolt.

7. LIDAR sensor (1 ) according to claim 6, characterized in that three fixing screws are provided.

8. LIDAR sensor (1) according to claim 7, characterized in that the fixing screws are arranged with their longitudinal axes parallel to each other and / or the fixing screws are arranged with their longitudinal axes parallel to the axis (A).

9. LIDAR sensor (1 ) according to one of the preceding claims, characterized in that the optical module (7) is a receiver module.

10. A method for positioning an optical module (7) of a LIDAR sensor (1), in particular according to one of the preceding claims, comprising the following steps: a) attaching an optical module (7) of the LIDAR sensor (1) to a carrier (10) in a housing (2), in particular a first housing part (3), in particular in a pre-assembly position, such that the optical module (7) is rotatably mounted on the carrier (10) about an axis (A); b) actuating an adjustable adjustment element (12) of an adjustment unit (1 1 ) of the LIDAR sensor (1), such that the optical module (7) is adjusted in its position about the axis (A) and is pressed against an elastic adjustment element (13) of the adjustment unit (1 1 ); 2023PF01072 12 c) Achieving a rotational adjustment position of the optical module (7) pre-tensioned and set by the elastic adjustment element (13), which is held by the adjustment elements (12, 13).

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