3-D lidar sensor

Patent metadata

Field	Value
Publication number	US-11022691-B2
Application number	US-201716342686-A
Country	US
Kind code	B2
Filing date	Oct 2, 2017
Priority date	Oct 19, 2016
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

A 3-D lidar sensor, in particular, for motor vehicles, includes a laser beam source, an optical receiver and a scanning system for deflecting a laser beam generated by the laser beam source in two scanning directions perpendicular to each other; to increase the functionality, a further detection device for deviations from normal operation being provided in the 3-D lidar sensor. In addition, a corresponding method for operating the 3-D lidar sensor is provided.

First claim

What is claimed is:

1. A 3-D lidar sensor, comprising:
a laser beam source;
an optical receiver and a scanning system for deflecting a laser beam generated by the laser beam source in two scanning directions perpendicular to each other;
a further detection device for deviations from normal operation, and
additional light sensors, the additional light sensors being situated within a housing of the 3-D lidar sensor in such a way that: (i) the additional light sensors are not irradiated during normal operation of laser beam source and the scanning system, and (ii) at least one of the additional light sensors is irradiated when the laser beam source or the scanning system is misaligned.

2. The 3-D lidar sensor of claim 1 , wherein outside light is suppressible.

3. The 3-D lidar sensor of claim 1 , further comprising:
a scattered light sensor.

4. The 3-D lidar sensor of claim 1 , wherein the 3-D lidar sensor is coupled to at least one further sensor.

5. The 3-D lidar sensor of claim 1 , further comprising:
a piezoelectric system on or in a disk or lens at an exit aperture of the 3-D lidar sensor.

6. The 3-D lidar sensor of claim 1 , further comprising:
photosensitive resistance wires on or in a disk or lens at an exit aperture of the 3-D lidar sensor.

7. The 3-D lidar sensor of claim 1 , further comprising:
expanding and/or focusing for the laser beam.

8. The 3-D lidar sensor of claim 1 , wherein the 3-D lidar sensor is coupled to at least one further sensor, including at least one of a rain sensor, a temperature sensor, an ultrasonic sensor, a chemical sensor and/or a radioactivity sensor.

9. The 3-D lidar sensor of claim 1 , wherein the 3-D lidar sensor is for a vehicle.

10. The 3-D lidar sensor of claim 1 , further comprising:
a disk or lens, the disk or lens is situated on the housing and is configured to allow laser beams to emerge from the housing of the 3-D sensor through the disk or lens;
wherein the additional light sensors are situated: (i) at an edge of the disk or lens, and/or (ii) at corners of the disk or lens.

11. The 3-D lidar sensor as recited in claim 10 , wherein the 3-D lidar sensor is configured to output an error message or undertake a self-calibration, when the at least one of the additional light sensors is illuminated.

12. A method for operating a 3-D lidar sensor having a laser beam source, the method comprising:
deflecting, via an optical receiver and a scanning system of the 3-D lidar sensor for deflecting a laser beam generated by the laser beam source, in two scanning directions perpendicular to each other; and
ascertaining, via a further detection device of the 3-D lidar sensor, which is for deviations from normal operation, deviations from normal operation of the 3-D lidar sensor;
wherein additional light sensors are situated within a housing of the 3-D lidar sensor in such a way that: (i) the additional light sensors are not irradiated during normal operation of laser beam source and the scanning system, and (ii) at least one of the additional light sensors is irradiated when the laser beam source or the scanning system is misaligned, and the method further comprises:
outputting an error message or performing a self-calibration, the outputting or performing occurring when the at least one of the additional light sensors is irradiated.

13. The method as recited in claim 12 , further comprising:
emitting the deflected laser beam from the housing through a disk or lens;
wherein the additional light sensors are situated: (i) at an edge of the disk or lens, and/or (ii) at corners of the disk or lens.

14. A 3-D lidar sensor, comprising:
a laser beam source;
an optical receiver and a scanning system for deflecting a laser beam generated by the laser beam source in two scanning directions perpendicular to each other;
a laser beam source;
an optical receiver and a scanning system for deflecting a laser beam generated by the laser beam source in two scanning directions perpendicular to each other; and
additional light sensors situated in such a way that: (i) the additional light sensors are irradiated during normal operation of laser beam source and the scanning system, and (ii) at least a specific portion of the additional light sensors is not irradiated when the laser beam source or the scanning system is misaligned.

15. The 3-D lidar sensor as recited in claim 14 , further comprising:
a disk or lens, the disk or lens is situated on a housing of the 3-D lidar sensor and is configured to allow laser beams to emerge from the housing of the 3-D sensor through the disk or lens;
wherein the additional light sensors are photosensitive resistant wires on or in the disk or lens in a netlike manner.

16. The 3-D lidar sensor as recited in claim 15 , wherein the 3-D lidar sensor is configured to output an error message when at least a specific region of the wires is not scanned by the deflected laser beam.

17. The 3-D lidar sensor as recited in claim 14 , wherein the sensor is configured to output an error message when the at least a specific portion of the additional light sensors is not irradiated.

Assignees

• Bosch Gmbh Robert

Inventors

• Frederiksen Annette
• Buettner Axel
• Schwarz Hans-Jochen
• Sparbert Jan
• Ostrinsky Joem
• Stoppel Klaus
• Kamil Mustafa
• Bogatscher Siegwart

Classifications

• G01S7/497

  Means for monitoring or calibrating · CPC title

• G01S2007/4975

  of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen · CPC title

• G01S7/4813

  Housing arrangements · CPC title

• G01S17/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S17/931

  of land vehicles · CPC title