DE102008013906B4 - Optical time-of-flight sensor with azimuth and elevation scanning - Google Patents
Optical time-of-flight sensor with azimuth and elevation scanning Download PDFInfo
- Publication number
- DE102008013906B4 DE102008013906B4 DE102008013906A DE102008013906A DE102008013906B4 DE 102008013906 B4 DE102008013906 B4 DE 102008013906B4 DE 102008013906 A DE102008013906 A DE 102008013906A DE 102008013906 A DE102008013906 A DE 102008013906A DE 102008013906 B4 DE102008013906 B4 DE 102008013906B4
- Authority
- DE
- Germany
- Prior art keywords
- flight sensor
- sensor according
- optical time
- mirror
- optical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000005291 magnetic effect Effects 0.000 claims description 9
- 238000011156 evaluation Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
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- 229910052742 iron Inorganic materials 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 230000002996 emotional effect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 229910000859 α-Fe Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
Optischer Laufzeitsensor mit mindestens einem Rotorteil (102, 110; 518; 801, 806, 904, 1009) zur Abtastung im Azimutbereich durch Rotieren eines optischen Systems für Sender (105) und Empfänger (115), und mit mindestens einem innerhalb des Rotorteils (102, 518, 801, 904, 1009) für den Sendestrahl (117, 513) angeordneten, um eine zur Rotorachse senkrechte Achse schwenkbaren optischen Bauteil (107, 306, 401, 803), das berührungslos von außerhalb des Rotorteils (102, 518, 801, 904, 1009) positionierbar ist, um die Szene in Elevation abzutasten.An optical transit time sensor having at least one rotor portion (102, 110; 518; 801, 806, 904, 1009) for scanning in the azimuth range by rotating an optical system for transmitter (105) and receiver (115), and at least one within the rotor portion (102 , 518, 801, 904, 1009) arranged for the transmission beam (117, 513), about an axis perpendicular to the rotor axis pivotable optical component (107, 306, 401, 803), the non-contact from outside the rotor part (102, 518, 801 , 904, 1009) is positionable to scan the scene in elevation.
Description
Stand der TechnikState of the art
Es sind eine Reihe von optischen Laufzeitsensoren bekannt, die die zu vermessende Szene mit verschiedenen Methoden abtasten. Auch Sensoren mit Sendezeilen und Empfangszeilen sind bekannt. Diese Sensoren sind z. B. in folgenden Schriften beschrieben:
-
DE 197 17 399 C2 -
DE 101 14 362 C2 -
DE 101 46 692.7 -
DE 10 2004 014 041.3 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799.4 -
DE 101 05 774 A1 -
DE 198 18 972 A1 -
US 2007/0131844 A1
-
DE 197 17 399 C2 -
DE 101 14 362 C2 -
DE 101 46 692.7 -
DE 10 2004 014 041.3 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799.4 -
DE 101 05 774 A1 -
DE 198 18 972 A1 -
US 2007/0131844 A1
Die in den Schriften beschriebenen Anordnungen sind nicht geeignet große Winkelbereiche mit hohen Geschwindigkeiten abzutasten.The Arrangements described in the documents are not suitable large angular ranges to scan at high speeds.
Außerdem sind diese Systeme relativ aufwändig für die Abtastung einer großen Fläche der Szene im nahen Abstand.Besides, they are these systems are relatively expensive for the Scanning a large one area the scene in the near distance.
Eine Realisierung in kleiner Bauform ist sehr schwierig.A Realization in a small design is very difficult.
Aufgabe der ErfindungObject of the invention
Aufgabe der Erfindung ist es mit einem optischen Laufzeitsystem einen großen Winkelbereich sowohl azimutal als auch in der Elevation abzutasten und dabei mit möglichst geringem Bauteileaufwand ein Entfernungsbild mit hoher Auflösung zu erzeugen. Für einen guten Signal-Rauschabstand soll die Leistungsdichte an den zu vermessenden Objekten möglichst hoch sein.task In the invention, with an optical time-of-flight system, it has a wide range of angles as well azimuthally as well as in the elevation scan and thereby with as possible Low component cost to a distance image with high resolution produce. For a good signal-to-noise ratio should be the power density at the possible objects to be measured be high.
Beschreibung der ErfindungDescription of the invention
Die
Erfindung wird im Folgenden anhand der
Zur
besseren magnetischen Ankopplung dreht sich z. B. der ferromagnetische
Körper
Durch
diese Maßnahme
kann durch die Wahl der Schwenkfrequenz entsprechend
Gemäß
Wird
das System für
die azimutale Abtastung nur für
einen Winkel < 360° verwendet,
kann mittels einer CCD-Zeile
Weitere
Ausführungen
insbesondere des Sendeteils
Durch
die in diesem System berührungslos übertragene
Spannung können
auch andere Ablenkverfahren gemäß
Ein
weiteres Ausführungsbeispiel
ist in
Das
vom Motor
Die optische Achse des Senders mit
dem Strahlengang
The optical axis of the transmitter with the beam path
Wird
auf der Senderseite anstatt der mitlaufenden Laserdiode ein z. B.
durch einen Halbleiterlaser gepumpter Festkörperlaser
Eine
weitere Ausführungsform
ist in
Der
doppelseitig verspiegelte Spiegel
Auf
die Unterseite des Spiegels wird der Ausgangstrahl
Auch
in diesem Fall kann auf der Sendeseite die Laserdiode
Ein
Blockschaltbild eines erfindungsgemäßen Sensors ist in
Die
Signalauswertung
Ein
Blockschaltbild für
die mechanisch-optische Anordnung gemäß
Alle
Bausteine wie Signalauswertung
Da
auch häufig
Kameras bei der gewünschten
Auflösung
und Pixelzahl nur einen kleinen Bildwinkel aufweisen, kann entsprechend
Eine
weitere Ausführung
der Erfindung ist in
Die
Optik
Die
Empfangseinheit
Die
Empfangseinheit ist im Lager
Im
Fall der Verwendung zweier Motoren ist sowohl für die Sendeeinheit
Für sehr preisgünstige Systeme
kann eine Anordnung nach
Ein
weiteres einfaches System ist in
Beide
Ringe
Claims (17)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013906A DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013906A DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102008013906A1 DE102008013906A1 (en) | 2009-10-22 |
DE102008013906B4 true DE102008013906B4 (en) | 2010-03-18 |
Family
ID=41078459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008013906A Expired - Fee Related DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102008013906B4 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011011875B3 (en) * | 2011-02-21 | 2012-07-26 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical pulse transit time sensor for high current laser control, comprises unit for light pulse generation by laser, another unit for receiving backscattered signals of objects and third unit for evaluating distances of received signals |
DE102011103349A1 (en) | 2011-05-27 | 2012-11-29 | Audi Ag | Multifunctional pulse transit time sensor system for detecting obstructions around motor car for performing e.g. critical function, has sensors that are driven out of contour of vehicle such that complete all-around scanning is performed |
WO2017001038A1 (en) | 2015-06-30 | 2017-01-05 | Wabco Gmbh | Sensor device for detecting surroundings and method for recognising a zero position of a rotatable unit of such a sensor device |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008019615B4 (en) * | 2008-04-18 | 2010-03-25 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical runtime sensor for space scanning |
EP2375266B1 (en) * | 2010-04-09 | 2012-05-16 | Sick AG | Opto-electronic sensor and securing method |
DE102014100245B3 (en) * | 2014-01-10 | 2014-11-20 | Sick Ag | Optoelectronic sensor and method for detecting objects in a surveillance area |
DE102014118054A1 (en) * | 2014-12-08 | 2016-06-09 | Valeo Schalter Und Sensoren Gmbh | Method and device for detecting objects for a motor vehicle |
DE102016011329A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with optics arranged in a rotor body |
DE102016011327A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with compact design |
DE102016011328A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LIDAR scanner with pentaprism |
DE102017006321A1 (en) | 2017-07-05 | 2019-01-10 | Wabco Gmbh | LIDAR sensor with reference plane adjustment |
DE102017215671A1 (en) * | 2017-09-06 | 2019-03-07 | Robert Bosch Gmbh | Scanning system and transmitting and receiving device for a scanning system |
DE102017216826B4 (en) | 2017-09-22 | 2024-05-02 | Robert Bosch Gmbh | Laser scanner, for example for a LIDAR system of a driver assistance system |
DE102018112410A1 (en) * | 2018-05-24 | 2019-11-28 | Valeo Schalter Und Sensoren Gmbh | Laser scanning device for an object detection device of a vehicle and corresponding object detection device |
DE102018222416B4 (en) | 2018-12-20 | 2023-01-26 | Robert Bosch Gmbh | Assembly for a LiDAR sensor and LiDAR sensor |
Citations (9)
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---|---|---|---|---|
DE19818972A1 (en) * | 1997-11-26 | 1999-06-10 | Mitsubishi Electric Corp | Target range measuring device |
DE19717399C2 (en) * | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE10105774A1 (en) * | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10114362C2 (en) * | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) * | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
DE102004014041B4 (en) * | 2004-03-19 | 2006-04-06 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
US20070131844A1 (en) * | 2005-12-08 | 2007-06-14 | Takashi Shoji | Laser scanning device |
DE102005055572B4 (en) * | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
DE102006045799B4 (en) * | 2006-09-26 | 2008-06-05 | Hans Spies | Scanning laser distance sensor |
-
2008
- 2008-03-13 DE DE102008013906A patent/DE102008013906B4/en not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19717399C2 (en) * | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE19818972A1 (en) * | 1997-11-26 | 1999-06-10 | Mitsubishi Electric Corp | Target range measuring device |
DE10105774A1 (en) * | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10114362C2 (en) * | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) * | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
DE102004014041B4 (en) * | 2004-03-19 | 2006-04-06 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
DE102005055572B4 (en) * | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
US20070131844A1 (en) * | 2005-12-08 | 2007-06-14 | Takashi Shoji | Laser scanning device |
DE102006045799B4 (en) * | 2006-09-26 | 2008-06-05 | Hans Spies | Scanning laser distance sensor |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011011875B3 (en) * | 2011-02-21 | 2012-07-26 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical pulse transit time sensor for high current laser control, comprises unit for light pulse generation by laser, another unit for receiving backscattered signals of objects and third unit for evaluating distances of received signals |
DE102011011875C5 (en) * | 2011-02-21 | 2014-03-27 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical pulse transit time sensor |
DE102011103349A1 (en) | 2011-05-27 | 2012-11-29 | Audi Ag | Multifunctional pulse transit time sensor system for detecting obstructions around motor car for performing e.g. critical function, has sensors that are driven out of contour of vehicle such that complete all-around scanning is performed |
WO2017001038A1 (en) | 2015-06-30 | 2017-01-05 | Wabco Gmbh | Sensor device for detecting surroundings and method for recognising a zero position of a rotatable unit of such a sensor device |
DE102015008310A1 (en) | 2015-06-30 | 2017-01-05 | Wabco Gmbh | Sensor device for environmental detection and method for detecting a zero point position of a rotatable unit of such a sensor device |
Also Published As
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DE102008013906A1 (en) | 2009-10-22 |
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OP8 | Request for examination as to paragraph 44 patent law | ||
8364 | No opposition during term of opposition | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |