DE102016011328A1 - LIDAR scanner with pentaprism - Google Patents

Abstract

The invention relates to an optical detection device (1) for mounting on a vehicle (100) for detecting objects (106) in the vicinity of the vehicle (100), comprising at least one transmitter (2) for transmitting electromagnetic radiation (3) into the vehicle observed zone (101); at least one receiver (4) for receiving radiation (5) reflected from the observed zone; an optical arrangement (6) comprising a first optical system (8) for the transmitter (2) for guiding the radiation (3) into the observed zone (101); and second optics (10) for the receiver (4) for directing the reflected radiation (5) to the receiver (4); and a drive (12) for rotating at least the optical assembly (6) about an axis of rotation (A) such that the transmitted radiation (3) is moved along the azimuth. The invention is characterized in that the second optic (10) has a pentaprism (14). Furthermore, the invention relates to a vehicle (100).

Description

The invention relates to an optical detection device for mounting on a vehicle for detecting objects in the vicinity of the vehicle with at least one transmitter for transmitting electromagnetic radiation into the observed zone, at least one receiver for receiving radiation reflected from the observed zone, an optical arrangement comprising first optics for the transmitter for directing the radiation into the observed zone and second optics for the receiver for directing the reflected radiation to the receiver, and a drive for rotating at least the optical assembly about an axis of rotation so that the transmitted radiation passes along of the azimuth is moved.

The invention further relates to a vehicle having at least one such optical detection device.

Such optical detection devices are known in the art and are generally referred to as optical time-of-flight sensors, laser scanners, LIDAR sensors or LADAR sensors. From a transmitter electromagnetic radiation is emitted and reflected by an object. By receiving the reflected radiation and corresponding transit time measurement of the signal, a distance between the detection device and the object which reflected the radiation can be determined.

Specifically, such detection devices are increasingly used in vehicles to allow the implementation of driver assistance systems and autonomous driving. In addition to such optical detection devices, infrared sensors, radar sensors and the like are also used.

It has been found that such optical detection devices can be used, for example, for the detection of congestion, object recognition, recognition of persons in the driving area or as turn sensors which detect, for example, an object located next to a vehicle, such as a cyclist. In particular, in the field of trucks, this application is advantageous and can be used, for example, to detect whether a trailer collides with an object when turning. Data detected by such optical detection devices may be input to the vehicle controller, and the vehicle controller may output certain control signals, such as a brake system or a warning system, based on these data.

The use of such optical detection devices in the mass production of vehicles requires on the one hand that the production of such optical detection devices must be simple and inexpensive, on the other hand, that these optical detection devices are robust and the environmental influences that act on these when used in the vehicle area have to.

Out DE 10 2008 013 906 a generic detection device is known, are used in the deflecting the radiation mirror. A laser diode emits a light beam parallel to an axis of rotation of a rotatable optical assembly, and a mirror is used to redirect that light beam so that the azimuth can be scanned. A corresponding mirror arrangement is also provided for the receiver. The laser diode is rotated together with the optics. The control of the laser diode is realized via an induction coil. On the one hand, the problem here is that relatively high electromagnetic radiation prevails due to the energy transmission by means of induction, which may be undesirable in the vehicle sector since it can influence other electrical systems. For a corresponding shield in the vehicle area is often not enough space. A deflection by means of a mirror has the disadvantage that the mounting of the mirror must be very accurate and even small assembly inaccuracies lead to a variation of the direction of the transmitted radiation.

A similar optical detection device is off DE 10 2006 045 799 known, in which no mirror is provided for the transmitting laser diode, but this is aligned directly in the direction of the azimuth and is rotated.

Further disclosed DE 10 2005 055 572 an optical detection device in which both transmitters and receivers are fixed. This has the advantage that it is not necessary to supply the transmitter via induction with electrical energy, this can rather be controlled directly. The deflection of the laser beam is again by means of a mirror. The disadvantage here is that during the rotation of the mirror, the image of the laser beam in the zone to be examined changes, namely rotates. This is due to the mirror tilting relative to the laser beam. The rotating image results in undesirable effects.

For a reliable result in the scan with associated high resolution, the laser beam must be projected as a vertical line. If the line is deflected over the rotating mirror into the scanning area, the image rotates and into the Edge regions is an exact assignment of the signals to the position inaccurate or impossible.

Another optical detection device which also operates with mirrors, wherein the mirrors have cylindrical sections at the edge, is shown in FIG DE 10 2004 041 500 A1 disclosed.

To improve the measurement accuracy is known to use multiple channels. This is for example in DE 197 17 399 disclosed. By using several different channels, it is possible to reduce the visibility limitations due to weather-related backscatter such as spray, fog and snow.

Out EP 1 914 564 For example, an optical detection device using a common transmitter and receiver having the same optical path is known. The detection device disclosed therein uses a beam splitter which splits the beam into a beam for the associated zone and a correction beam, the correction beam being reflected over an always horizontal reflecting surface formed by the interface of two liquids. As a result, an inclination of the device is compensated. In order to still achieve a horizontally oriented beam of the transmitter with tilted detection device, uses the in EP 1 914 564 B1 Detection device disclosed a pentaprism, which has the property to provide in a certain frame, regardless of its location always a deflection between incident and outgoing beam at a fixed angle, usually of 90 °, with other angles are conceivable. In this respect, the pentaprism is "tilt-neutral". This property does not have a mirror.

Another example of an optical detection device is shown in FIG US 9,255,790 B2 disclosed. The device disclosed there also uses a pentaprism for the transmitter in order to deflect the beam by 90 °.

Object of the present invention is therefore to provide an optical detection device of the type mentioned, which is easy to assemble and robust.

This object is achieved in an optical detection device of the type mentioned above in that the second optics has a pentaprism. The second optic is the optics for the receiver to direct the reflected radiation to the receiver. Known detection devices partially use a pentaprism on the transmitter side, that is, in the first optics, in order to achieve a constant, usually 90 ° deflection of the radiation. The invention is based on the finding that such a pentaprism on the receiver side can be used particularly advantageously in order to simplify the robustness and the assembly. The receiver is preferably oriented so that it is intended to receive radiation approximately perpendicular to the incident reflected radiation. A deflection of the received radiation by about 90 ° is therefore required in most cases. Preferably, the first pentaprism is designed so that an incoming beam is deflected in a range of 80 ° to 100 °. Although the reflected radiation has a higher scattering and does not occur exclusively horizontally in the second optics. In this case, however, a "tilt-neutral" deflection of the radiation is advantageous. In addition, such a pentaprism facilitates the assembly. Due to the constant deflection of the radiation even in a region in which the pentaprism is slightly tilted, mounting tolerances can be compensated, whereby the assembly is much easier.

The drive is intended to rotate at least the optical arrangement. In embodiments it can be provided that the transmitter and / or the receiver are also rotated with it. For example, as is known in the art, the transmitter can be pulsed by means of an induction coil. If the transmitter is rotatably mounted, it is also provided, as is basically known in the prior art, that the transmitter emits the radiation radially, so that no additional optics for deflecting the beam is required here. Preferably, however, both transmitter and receiver are stationary, whereby the detection device is more robust overall.

In a first preferred development, the first optic also has a pentaprism. Essentially, the same advantages as described above apply. The pentaprism causes the emitted beam of the transmitter to be deflected by a fixed angle, in a certain range independent of the position of the pentaprism. Preferably, the second pentaprism is designed so that an incoming beam is deflected in a range of 80 ° to 100 °. For example, there may be embodiments in which, for example, a deflection of about 92 ° is desired, for instance in order to achieve a lower ground scan, with a vertical mounting eye in order to avoid misdetections. In such cases, the two pentaprisms can be designed differently, for example, the first pentaprism can then provide a deflection of 88 °. If both pentaprisms are designed for a 90 ° deflection, they can be designed as identical parts, which can be used to reduce costs.

It should be understood that there may also be embodiments in which only the first optic has a pentaprism, and the second optics for deflecting the beam, for example a mirror or the like. It should be understood that also such embodiments are independently disclosed herein and may be claimed independently. In this respect also applies to the following statements that embodiments are disclosed in which only the first optics has a pentaprism.

According to a further preferred embodiment, the first optics has a first lens for spreading the emitted radiation. The transmitter is preferably designed to emit a narrow beam, which is approximately punctiform in the figure. In order to achieve a good detection of objects in the observed zone, it is advantageous to fan the beam of the transmitter, preferably perpendicular to the azimuth. That is, the spreading is preferably carried out so that the jet is fan-shaped, wherein the plane of the fan encloses the rotation axis or is parallel to it. Preferably, the first lens is arranged at the beam exit of a deflection element of the first optics, such as a pentaprism. That is, the spread of the beam takes place only after deflection of the beam, whereby technical advantages are achieved. If, for example, a mirror is used as deflecting element and the beam fanned out in front of the mirror, the technical disadvantage results that the fan-shaped beam rotates. Therefore, the first lens is preferably arranged at the beam exit of such a deflection element.

The spread of the radiation is preferably carried out by 5 ° to 10 °, so that the emitted radiation forms a line in the figure. In embodiments of the invention it is provided that the first lens is formed integrally with the pentaprism of the first optics, in particular in one piece.

According to a preferred development, the first lens is designed as a cylindrical lens or as a Powell lens.

According to a further preferred embodiment, the first lens is adjustable relative to the pentaprism of the first optics. Depending on the orientation of the pentaprism, the beam of the transmitter emerges at different points of the pentaprism. Furthermore, both a cylindrical lens and a Powell lens have the property of partially deflecting the beam depending on the location of the incident beam. As a result of the displacement of the first lens relative to the pentaprism, the orientation of the outgoing beam relative to a horizontal can therefore be set. For this purpose, preferably an adjusting device is provided. By means of the adjusting device, it is possible to move the pentaprism and the first lens relative to each other and so to adjust the direction of the outgoing beam of the transmitter.

According to a further preferred embodiment, the second optical system has a second lens for focusing the received radiation for the receiver. The received reflected radiation is widely dispersed, and the receiver is preferably provided to receive a substantially dot-like image. The receiver can be designed, for example, as a photocell. Therefore, it is advantageous to focus the received radiation, so that a reliable detection of objects in the observed zone takes place. Also, the second lens of the second optics may be integrally formed, in particular in one piece, with the pentaprism of the second optics. The second lens is preferably arranged on the input side on the pentaprism, that is to say on the side of the pentaprism on which the reflected beam is incident. As a result, the focusing of the beam takes place before entry into the pentaprism, that is, before the deflection of the beam, which in turn results in technical advantages.

Furthermore, it is preferred that the pentaprism of the first optic and the pentaprism of the second optic are formed integrally, in particular in one piece. As a result, the robustness is further improved and simplifies the assembly. For example, the two pentaprisms may be integrally molded in a single injection molding process, preferably with a separator provided therein for separating the optical paths, such as a reflective layer or the like.

In a further preferred embodiment, it is provided that the transmitter has a laser diode, which is adapted to emit light in the non-visible region. Preferably, the light is in the UV region. Such laser diodes are particularly well suited for a detection device for the aforementioned application on vehicles.

Furthermore, the laser diode is preferably arranged to emit a beam substantially along the axis of rotation. The laser diode is stationary while the optical assembly is rotating. The optical arrangement rotates about the axis of rotation. The laser diode emits radiation along the axis of rotation, this is deflected in a first deflection device, in particular a pentaprism, preferably by 90 ° and thus directed perpendicular to the axis of rotation. The laser diode can be supplied in a simple manner directly with power and corresponding signals and, for example, be arranged on a printed circuit board or the like.

At the same time, it is preferred that the receiver is arranged to receive the reflected radiation substantially along the axis of rotation. Essentially the same applies here. The receiver is stationary, and the reflected radiation is in the radial direction, that is perpendicular to the axis of rotation, received, deflected by the pentaprism and fed to the receiver. Due to the fixed arrangement of the laser diode and receiver, the construction is simplified and made robust. For a rotating diode or a rotating receiver would be provided wireless data transmission or transmission by brush, both of which is not preferred.

Furthermore, the detection device preferably has a controller for determining a time difference between a transmitted radiation signal and the correspondingly received reflected radiation signal. By determining the time difference, it is possible to determine the distance that an object has to the detection device. If detection pulses are sent in rapid succession by means of the transmitted radiation, it is also possible to track the movement of an object and to output a warning signal if the threshold falls below a threshold value.

In a further preferred embodiment, the optical arrangement is arranged in a frame, and the frame is connected to the drive. Preferably, all moving optical elements are arranged in this frame. The frame thus provides a mount and housing for the optical elements that are being moved, and the overall construction is more robust.

Furthermore, it is preferred that the drive is arranged externally to the optical arrangement. The optical arrangement forms a structural unit, which is preferably arranged in the frame. The frame may be connected directly or indirectly via a gear with a drive shaft of the drive. The drive preferably has a brushless DC motor. Due to the external arrangement of the drive, the drive can be designed independently of the optical arrangement and the prevailing space conditions therein, and at the same time there is a decoupling of the drive region and the optical region. The individual assemblies can be assembled in the manner of modules, whereby the maintenance of these parts is simplified.

In a second aspect, the invention solves the above-mentioned object in a vehicle of the type mentioned above with a front and a rear in that it has at least one optical detection device according to one of the above-described preferred embodiments of a detection device of the first aspect of the invention; as well as an electronic vehicle electrical system and a vehicle control, which is connected to the electrical system and controls functions of the vehicle, wherein the optical detection device is connected to the vehicle electrical system of the vehicle for transmitting data to the vehicle control. Data transmitted to the vehicle controller may include, for example, digitized distance information indicating a distance between the detection device and a detected object. Depending on these distance values, the vehicle control is preferably set up to output corresponding control signals to one or more control elements, such as a brake system.

Preferably, at least one optical detection device is provided at the front of the vehicle. This can for example be used to detect a traffic jam or a stationary vehicle in front of the vehicle. Additionally or alternatively, detection devices are preferably arranged at two front corners of the front, approximately in the region of direction indicators of the vehicle. Additionally or alternatively, it is also conceivable that detection devices are arranged on the sides of the vehicle, in a passenger car approximately in the region of the B pillar. Laterally arranged detection devices can be used in particular to detect, for example, cyclists or pedestrians in right-turning vehicle traffic, so that the detection device can be used as part of a turning assistance system. Also at the rear of the vehicle, one or more detection devices may be arranged to monitor the corresponding area. In principle, detection devices of the type mentioned above can be used on the vehicle where a corresponding zone is to be observed. As complete an observation as possible of the entire vehicle environment is desirable and preferred if the detection device of the present invention is to be used for, for example, autonomous driving.

Embodiments of the invention will now be described below with reference to the drawing. This is not necessarily to scale the embodiments, but the drawing, where appropriate for explanation, executed in a schematized and / or slightly distorted form. With regard to additions to the teachings directly recognizable from the drawing reference is made to the relevant prior art. It should be noted that various modifications and changes may be made in the form and detail of an embodiment without departing from the general spirit of the invention departing. The disclosed in the description, in the drawing and in the claims features of the invention may be essential both individually and in any combination for the development of the invention. In addition, all combinations of at least two of the features disclosed in the description, the drawings and / or the claims fall within the scope of the invention. The general idea of the invention is not limited to the exact form or detail of the preferred embodiments shown and described below or limited to an article which would be limited in comparison with the subject matter claimed in the claims. For the given design ranges, values within the stated limits should also be disclosed as limit values and be arbitrarily usable and claimable. For simplicity, the same reference numerals are used below for identical or similar parts or parts with identical or similar function.

Further advantages, features and details of the invention will become apparent from the following description of the preferred embodiments and from the drawings; these show in:

1 a schematic side view of an optical detection device according to the invention;

2 a further schematic side view of the detection device;

3 a partial exploded view of the detection device;

4 a partially exploded view of the detection device according to another embodiment;

5 a perspective view of an adjusting device including first and second optics; and

6 a schematic view of a vehicle with optical detection device.

The basic principle of an optical detection device 1 according to the invention, for mounting on a vehicle 100 ( 6 ) is in 1 shown schematically. The detection device 1 has a transmitter 2 for transmitting electromagnetic radiation 3 into an observed zone 101 (see also 6 ) on. The electromagnetic radiation is preferably a laser pulse. Furthermore, the optical detection device 1 a receiver 4 to receive from the observed zone 101 reflected radiation 5 on. To conduct the radiation 3 . 5 has the optical detection device 1 according to this invention, an optical arrangement 6 on. The optical arrangement 6 has according to this embodiment, a first optics 8th for the transmitter 2 for conducting the radiation 3 into the observed zone 101 as well as a second optic 10 for the recipient 4 for conducting a reflected radiation 5 to the recipient 4 on. While transmitter 2 and receiver 4 are stationary, is the optical arrangement 6 rotatable about a rotation axis A. This is a drive 12 provided in 1 is shown only schematically (see, for example 2 ). The drive 12 rotates the optical arrangement 6 around the axis of rotation A. This allows the observed zone 101 scanning. The transmitted radiation 3 occurs approximately radially with respect to the axis of rotation A from the detection device 1 out. By the rotation of the optical arrangement 6 becomes the transmitted radiation 3 moved along the azimuth.

As it turned out 1 results, is the transmitter 2 set up to radiation 3 essentially along the axis of rotation A to send. The radiation 3 therefore has a section 3a on, which runs along the axis of rotation A. To the radiation 3 then send in the radial direction, so that they are in the zone to be observed 101 is a pentaprism 16 intended. The pentaprism 16 is part of the first optics 8th and serves the radiation 3 to deviate by 90 ° in this embodiment. The part 3b the radiation 3 Therefore, it occurs essentially radially with respect to the axis of rotation A from the optical detection device 1 out. To the radiation 3 initially narrow from the transmitter 2 leaking, expanding, spreading or fanning out is a first lens 18 provided in the schematic representation in 1 as a cylindrical lens 20 is trained. The cylindrical lens 20 is the pentaprism 16 downstream in the beam direction and spreads the beam 3 in the drawing plane of 1 on, that is in the installation situation of the optical detection device in the vertical direction. The beam proportion 3b is therefore spread fan-shaped and so in the zone 101 shown in a line.

The recipient 4 is also fixed in place and provided to the reflected radiation 5 essentially along the axis of rotation A to receive. Therefore, the part 5a the reflected radiation along the axis of rotation A aligned. Because the reflected radiation 5 initially radially in the section 5b in the detection device 1 enters, has the second optics 10 for the recipient 4 another pentaprism 14 on that the beam 5 also deflected in this embodiment by 90 ° and so to the receiver 4 passes. For focusing the reflected radiation 5 is a second lens 24 provided the radiation 5 bundles and bundles into the pentaprism 14 passes. This is a concentration of the radiation 5 possible, and the recipient 4 can be designed to save space.

The use of pentaprisms 14 . 16 has the advantage that these can compensate for small assembly errors, as regardless of the location of pentaprisms 14 . 16 based on the incident beam 3a and 5b the deflection always takes place at a constant angle, here by 90 °. That is, even if the pentaprisms 14 . 16 based on the in 1 shown arrangement are slightly rotated, is still the beam 3 . 5 each deflected by 90 °. Furthermore, the special arrangement of the optical arrangement 6 in the center and transmitter 2 and receiver 4 external as well as the external drive 12 achieved a compact design.

The optical arrangement 6 is overall in a frame 30 arranged and thus formed as a single assembly. The drive 12 stands with the frame 30 contact and rotate this. The rotation is always carried out in one direction, with radiation 3 only emitted when the frame 30 is in a position where the radiation 3 in the direction of the zone 101 can escape.

In a first practical implementation of the optical detection device 1 this has a design like in 2 shown. In the embodiment according to 2 has the optical detection device 1 turn a transmitter 2 , a receiver 4 and an optical arrangement 6 on. transmitter 2 and receiver 4 are substantially at opposite ends of the detection device 1 arranged and the optical arrangement 6 in the middle. The optical arrangement 6 again has a first appearance 8th for the transmitter 2 as well as a second optic 10 for the recipient 4 on. The first look 8th has a pentaprism 16 and a first lens 18 , in turn, as a cylindrical lens 20 trained on, and the second optics 10 has a pentaprism 14 and a second lens 24 for focusing the incident radiation 5 (see. 1 ) on.

The transmitter 2 has according to this embodiment, a laser diode 26 on that on a first circuit board 62 is arranged. Accordingly, the recipient 4 designed as a photodiode and on a second circuit board 64 arranged. The circuit boards 62 . 64 are substantially opposite and aligned parallel to each other.

The drive 12 is between the transmitter according to this embodiment 2 and the optical arrangement 6 arranged. The drive 12 is thus external to the optical arrangement 6 to drive them. The drive 12 according to this embodiment, a brushless DC motor 32 up, a rotor 34 and a stator 36 Has. The motor 32 is designed as an external rotor motor, and insofar encloses the rotor 34 radially outward the stator 36 having the stator winding. By training the engine 32 as outer rotor is inside a cavity 40 educated. Also the output shaft 42 of the motor 32 is hollow, and thus the optical path P1 for the radiation 3 (see. 1 ) from the transmitter 2 until the first optics 8th through the engine 32 and the wave 42 pass through. The arrangement is particularly compact according to 2 in that a lens 44 through a bracket 45 also inside the cavity 40 is held. The Lens 44 is designed as a diffuser lens and serves to that of the transmitter 2 to soften emitted radiation. laser diodes 26 have the property that the emitted beam in the figure is rectangular, with this rectangular shape deviating from a square. This results in rotation of the optical arrangement 6 Again, the known imaging problems, so it is preferred, the diffuser lens 44 provided. The diffuser lens 44 serves to make the radiation diffuse, so that in about a point-like imaging of the radiation is achieved. The holder 45 Holds the diffuser lens 44 inside the cavity 40 so that the entire arrangement of the optical detection device 1 is compact.

The output shaft 42 is with a rotor housing 46 of the rotor 34 connected, which in turn the permanent magnets 48 wearing. The rotor housing 48 extends substantially dome-shaped or cup-shaped over the stator 36 , The output shaft 42 has a threaded shaft 50 on that with a threaded section 52 the optical arrangement 6 connected is. In this way, the optical arrangement 6 directly with the drive 12 coupled.

More precise is the optical arrangement 6 in this embodiment in a frame 30 arranged (in 2 not to be seen in detail, cf. 1 and 5 ), in turn, in a rotor body 70 is stored. The rotor body 70 has a central housing section 72 on, from which at opposite ends two stub shaft 74 . 76 extend axially. Both the rotor body 70 as well as his stub shaft 74 . 76 are provided with a through hole, so that the corresponding radiation 3 . 5 can pass through. The emitted radiation 3 occurs according to 2 from the laser diode 26 along the optical path P1 through the diffuser lens 44 in the cavity 40 , Through the output shaft designed as a hollow shaft 42 , until the pentaprism 16 , out of this through the lens 20 and in the zone to be observed 101 (see. 1 and 6 ). Accordingly, reflected radiation occurs 5 through the lens 24 , the pentaprism 14 , the stub shaft 76 to the receiver 4 ,

The rotor body 70 is with his stubs 74 . 76 in corresponding bearings designed as bearings 54 . 56 stored, which in turn are supported on a housing. By the double bearing of the rotor body 70 becomes a stable arrangement for the optical arrangement 6 achieved, whereby the robustness is increased. In particular, the warehouse 54 also serves to support the drive 12 that's about the threaded section 50 with the rotor body 70 connected is.

In 3 is a variant of the optical detection device 1 out 2 shown. In 3 are just the most important elements for the optical arrangement 6 shown, so for example, the drive in 3 not shown. The embodiment according to 3 differs from the embodiments in the 1 and 2 in particular in that the first lens 18 as a Powell lens 22 is trained. The Powell lens 22 also serves as the cylindrical lens 18 to that, the radiation 3 spread open and so to achieve a linear image. The Powell lens 22 is in 3 separate from the pentaprism 16 but may also be integral with it. A two-part training of first lens 18 and pentaprism 16 regardless of whether it is the first lens 18 around a cylindrical lens 20 or a Powell lens 22 has the advantage that the first lens 18 relative to the pentaprism 16 is adjustable, as will be described later.

According to 4 is another embodiment of the optical detection device 1 represented according to the invention. In the following, in particular, the differences from the first exemplary embodiment ( 1 to 3 ). The embodiment according to 4 differs especially in the type of drive 12 from the first three embodiments. According to the in 4 illustrated embodiment, the drive is in turn designed as a brushless DC motor, which is external to the optical arrangement 6 is arranged. While in the first embodiments, the rotational axis of the engine 32 coincides with the axis of rotation A of the optical arrangement 6 , is the rotation axis M of the motor 32 in the embodiment according to 4 radially offset and parallel to the axis of rotation A.

The motor 32 has a gearbox 90 with a pinion 120 on that with a wheel 122 combs. The wheel 122 is with the rotor body 70 coupled and approximately between the first and second optics 8th . 10 arranged. The rotor body 70 again has stub shafts 74 . 76 auf, which according to this embodiment ( 4 ) but not intended to be in rolling bearings 54 . 56 to be taken, but in plain bearings (not shown). That's why the stub axles are 74 . 76 according to the embodiment 4 formed with a larger diameter. On the stub shaft 74 . 76 here are additionally plain bearing bushes 74a . 76a postponed. On the plain bearing bush 74a is a part of the warehouse seat in addition to illustration purposes 74b shown.

Such an embodiment is particularly suitable when a short axial design of the detection device is advantageous because the drive 32 can be parallel and laterally offset from the rotor body. Furthermore, the transmission 90 be used to set a speed that is different from the rated speed of the motor 32 , Sliding bearings also have the advantage that they are reduced in weight compared to rolling bearings.

5 illustrates again in a perspective view of the optical arrangement 6 , The frame 30 is in 5 omitted, and essentially the two are pentaprisms 14 . 16 as well as the first lens 18 and the second lens 24 shown. The frame 30 has according to this embodiment, an adjustment mechanism 84 on, by means of which the relative position of the first lens 18 and pentaprism 16 is adjustable to each other. In 1 is through the arrows 83 hinted that the first lens 18 in the direction of the axis of rotation A is adjustable. According to the in 5 illustrated embodiment is now provided that the pentaprism 16 relative to the captured first lens 18 is adjustable. This is the pentaprism 16 in a sledge 82 arranged, the axial position along the axis of rotation A through the adjusting mechanism 84 is adjustable. The adjustment mechanism 84 has an eccentric element 86 on which with the sledge 82 engaged so that the sled 82 upon rotation of the eccentric element 86 is moved along the axis of rotation A. The movement of the sled 82 as well as the pentaprism 16 is in 5 represented by the dashed lines. The eccentric element 86 has on its front side an engaging portion 88 on, which is formed in this embodiment as a slot-shaped recess. This allows the eccentric element 86 by pressing a conventional screwdriver.

The adjustment mechanism 84 is used to an installation position of the detection device 1 compensate. It is necessary for a safe detection that the emitted beam 3 , in particular section 3b (see. 1 ), is emitted substantially horizontally and, even when spread, is not too high and not too low from the detection device 1 exit. Will the beam part 3b emitted with a too large angle down, "sees" the detection device 1 only the street floor and perceive this possibly as an obstacle. If, however, the angle is set too large and the section 3b of the beam 3 shows from the horizontal Seen above, it is conceivable that mistakenly no obstacle is perceived as the radiation 3b runs above an obstacle. As the mounting position of the detection device 1 due to assembly tolerances is not always identical, it is preferred by means of the adjustment mechanism 84 the direction of the beam 3b adapt. This is preferably factory after assembly of the detection device 1 made and checked by reference points. The eccentric element 86 is designed in this embodiment that it is self-locking. If its rotational position is correctly adjusted, a further automatic rotation is inhibited and an adjustment of the relative position between Pentaprisma 16 and first lens 18 is prevented.

6 now illustrates an installation position of a detection device 1 on a vehicle 100 , The vehicle 100 has a front 102 and a tail 104 on, wherein according to this embodiment, the optical detection device 1 at the frontline 102 is arranged. Preferably, the optical detection device 1 in about the middle of the front 102 intended.

The optical detection device 1 emits radiation 3b into a zone to watch 101 , In the zone to be observed 101 is an object 106 which is shown schematically in this embodiment. At the object 106 it can be another vehicle, a person or another obstacle. From the object 106 becomes radiation 5 reflected, and the reflected radiation 5 partially returns to the optical detection device 1 and becomes the receiver there as described above 4 directed. The optical detection device 1 also has a controller 110 which is adapted to the time difference of the emission of the radiation 3 and the reception of the reflected radiation 5 a distance D between the object 106 and the optical detection device 1 to determine.

The control 110 is via a wiring system 112 of the vehicle with the vehicle control 114 connected and sends data 116 to this. The data 116 may contain digitized data of the distance D or also the raw data of the transit time measurement. The vehicle control 114 is preferably set up from the received data 116 Derive measures, such as output a brake signal when the distance D falls below a minimum distance. Alternatively or additionally, the vehicle control 114 be set up to issue a warning signal to a driver.

LIST OF REFERENCE NUMBERS

1

detection device

2

transmitter

3

emitted radiation

3a

axial portion of the emitted radiation

3b

radial portion of the emitted radiation

4

receiver

5

reflected radiation

5a

axial portion of the reflected radiation

5b

radial portion of the reflected radiation

6

optical arrangement

8th

first appearance

10

second optics

12

drive

14, 16

pentaprism

18

first lens

20

cylindrical lens

22

Powell lens

24

second lens

26

laser diode

30

frame

32

brushless DC motor

34

rotor

36

stator

40

cavity

42

output shaft

44

Diffuser lens

45

bracket

46

rotor housing

48

permanent magnets

50

threaded shaft

52

threaded portion

54, 56

roller bearing

62

first circuit board

64

second circuit board

70

rotor body

72

central housing section

74, 76

two stubs

74a, 76a

bushings

74b

bearing shell

82

carriage

83

arrows

84

adjustment mechanism

86

eccentric

88

engaging portion

90

transmission

100

vehicle

101

watched zone

102

front

104

Rear

106

object

110

control

112

board network

114

vehicle control

116

dates

120

pinion

122

wheel

A

axis of rotation

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008013906 [0007]
• DE 102006045799 [0008]
• DE 102005055572 [0009]
• DE 102004041500 A1 [0011]
• DE 19717399 [0012]
• EP 1914564 [0013]
• EP 1914564 B1 [0013]
• US 9255790 B2 [0014]

Claims (15)

Optical detection device ( 1 ) for mounting on a vehicle ( 100 ) for the detection of objects ( 106 ) near the vehicle ( 100 ), with: - at least one transmitter ( 2 ) for transmitting electromagnetic radiation ( 3 ) into the observed zone ( 101 ); - at least one recipient ( 4 ) for receiving radiation reflected from the observed zone ( 5 ); An optical arrangement ( 6 ), comprising - a first optic ( 8th ) for the transmitter ( 2 ) for conducting the radiation ( 3 ) into the observed zone ( 101 ); and a second optic ( 10 ) for the recipient ( 4 ) for conducting the reflected radiation ( 5 ) to the recipient ( 4 ); and a drive ( 12 ) for rotating at least the optical arrangement ( 6 ) around an axis of rotation (A) so that the transmitted radiation ( 3 ) is moved along the azimuth; characterized in that the second optic ( 10 ) a pentaprism ( 14 ) having. Optical detection device ( 1 ) according to claim 1, wherein the first optic ( 8th ) a pentaprism ( 16 ) having. Optical detection device ( 1 ) according to any one of the preceding claims, wherein the first optic ( 8th ) a first lens ( 18 ) for spreading the transmitted radiation ( 3 ) having. Optical detection device ( 1 ) according to claim 3, wherein the first lens ( 18 ) a cylindrical lens ( 20 ) or a Powell lens ( 22 ). Optical detection device ( 1 ) according to claim 2 and 3 or 4, wherein the first lens ( 18 ) relative to the pentaprism ( 16 ) of the first optic ( 8th ) is adjustable. Optical detection device ( 1 ) according to any one of the preceding claims, wherein the second optic ( 10 ) a second lens ( 24 ) for focusing the received radiation ( 5 ) for the recipient ( 4 ) having. Optical detection device ( 1 ) according to claim 2, wherein the pentaprism ( 16 ) of the first optic ( 8th ) and the pentaprism ( 14 ) of the second optic ( 10 ) are integrally formed, in particular in one piece. Optical detection device ( 1 ) according to one of the preceding claims, wherein the transmitter ( 2 ) a laser diode ( 26 ) adapted to emit light in the non-visible area. Optical detection device ( 1 ) according to claim 8, wherein the laser diode ( 26 ) is arranged to receive a beam ( 3a ) substantially along the axis of rotation (A) to emit. Optical detection device ( 1 ) according to any one of the preceding claims, wherein the recipient ( 4 ) is arranged to the reflected radiation ( 5 ) substantially along the axis of rotation (A). Optical detection device ( 1 ) according to one of the preceding claims, comprising a controller ( 110 ) for determining a time difference between a transmitted radiation signal ( 3 ) and the corresponding received reflected radiation signal ( 5 ). Optical detection device ( 1 ) according to one of the preceding claims, wherein the optical arrangement ( 6 ) in a framework ( 30 ) and the frame ( 30 ) with the drive ( 12 ) connected is. Optical detection device ( 1 ) according to claim 12, wherein the drive ( 12 ) external to the optical arrangement ( 6 ) is arranged. Optical detection device ( 1 ) according to one of the preceding claims, wherein the drive ( 12 ) a brushless DC motor ( 32 ) having. Vehicle ( 100 ) with a front ( 102 ) and a stern ( 104 ), comprising: - at least one optical detection device ( 1 ) according to any one of the preceding claims 1 to 14; - an electronic wiring system ( 112 ) and a vehicle control ( 114 ) connected to the vehicle electrical system ( 112 ) and functions of the vehicle ( 100 ) controls; the optical detection device ( 1 ) with the electrical system ( 112 ) of the vehicle ( 100 ) for transferring data ( 116 ) to the vehicle control ( 114 ) connected is.

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