DE19757849C5 - Scanner and device for the optical detection of obstacles, and their use - Google Patents
Scanner and device for the optical detection of obstacles, and their use Download PDFInfo
- Publication number
- DE19757849C5 DE19757849C5 DE19757849A DE19757849A DE19757849C5 DE 19757849 C5 DE19757849 C5 DE 19757849C5 DE 19757849 A DE19757849 A DE 19757849A DE 19757849 A DE19757849 A DE 19757849A DE 19757849 C5 DE19757849 C5 DE 19757849C5
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- Prior art keywords
- scanner
- transmitting device
- radiation receiver
- surveillance sector
- axis
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- Expired - Lifetime
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- 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
-
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Scanner mit einer als Laser ausgebildeten Sendeeinrichtung, die einen kollimierten Strahl von Lichtimpulsen erzeugt und in einen Überwachungssektor emittiert, und einem Strahlungsempfänger, der aus dem Überwachungssektor reflektierte Lichtimpulse empfängt, wobei der Scanner den Strahl und die Blickrichtung des Strahlungsempfängers gemeinsam umlaufend bewegt, dadurch gekennzeichnet, dass die Sendeeinrichtung (11) und der Strahlungsempfänger (16) um eine Achse (14) drehbar gelagert sind und ein Drehantrieb für die Sendeeinrichtung (11) und den Strahlungsempfänger (16) vorgesehen ist, und dass die Sendeeinrichtung (16) von dem Scanner direkt abstrahlend angeordnet ist, und dass die Sendeeinrichtung (11) in einem Hauptkörper (13) vorgesehen ist, der drehbar um eine Achse (14) an einer Basis (15) gelagert aufgenommen ist und kontinuierlich rotiert, und dass aus dem Abstrahlwinkel der Sendeeinrichtung (11) sowie der Laufzeit des betreffenden Impulses nach Absendung bis zum Empfang auf dem Lichtempfänger (16) in einer geeigneten Auswerteeinrichtung für jeden gesendeten Impuls die Raumkoordinaten des Reflektionspunktes im Überwachungssektor bestimmt werden, und dass aus den in einem Umlauf gewonnenen Raumkoordinaten für die Reflektionspunkte ein Profil von im Überwachungssektor abgetasteten Objekten ermittelt werden kann, und dass die zeitabhängige Veränderung der jeweils pro Umlauf ermittelten Oberflächenprofile zur Erzeugung von Steuerdaten eingesetzt werden kann.A scanner comprising a laser-formed transmitter which generates a collimated beam of light pulses and emits into a surveillance sector, and a radiation receiver receiving light pulses reflected from the surveillance sector, the scanner jointly moving the beam and the viewing direction of the radiation receiver, characterized that the transmitting device (11) and the radiation receiver (16) are rotatably mounted about an axis (14) and a rotary drive for the transmitting device (11) and the radiation receiver (16) is provided, and that the transmitting device (16) from the scanner directly is arranged radiating, and that the transmitting device (11) in a main body (13) is provided, which is rotatably mounted about an axis (14) mounted on a base (15) and continuously rotated, and that from the radiation angle of the transmitting device (11 ) as well as the duration of the relevant pulse after transmission to reception a The spatial coordinates of the reflection point in the surveillance sector are determined on the light receiver (16) in a suitable evaluation device for each transmitted pulse, and that a profile of objects scanned in the surveillance sector can be determined from the spatial coordinates for the reflection points obtained in one revolution, and that the time-dependent Change in each determined per circulation surface profiles can be used to generate control data.
Description
Die Erfindung bezieht sich auf einen Scanner nach dem Oberbegriff des Anspruches 1.The invention relates to a scanner according to the preamble of claim 1.
Stand der TechnikState of the art
Gattungsgemäße Scanner werden insbesondere in Vorrichtungen zur Erkennung von Objekten innerhalb z. B. eines Überwachungssektors vor Fahrzeugen eingesetzt. Geeignete Scanner bzw. damit ausgerüstete Vorrichtungen sind z. B. aus der
Bei gattungsgemäßen Scannern ist die Sendeeinrichtung ortsfest angeordnet. Zur gewünschten Verschwenkung des Strahles ist im Abstrahlweg ein drehbar gelagertes Prisma bzw: Spiegel angeordnet, mit dem der Strahl in gewünschter Weise verschwenkt bzw. auch umlaufend bewegtwerden kann. Nachteilig an der bekannten Konstruktion ist, daß diese relativ groß baut und wartungsintensiv ist.In generic scanners, the transmitting device is arranged stationary. For the desired pivoting of the beam, a rotatably mounted prism or mirror is arranged in the emission path, with which the beam can be swiveled in the desired manner or else can be moved circumferentially. A disadvantage of the known construction is that it builds relatively large and is maintenance-intensive.
Aus der
Aus der
Aus der
Aus der Studienarbeit „Entwicklung eines Infrarot-Radarsensorsystems zur 3D-Hinderniserkennung” von Frank Schwarz der Technischen Hochschule Darmstadt, Fachgebiet Regelsystemtheorie und Robotik, abgegeben am 01.05.1992, ist ein auf dem Phasenmessprinzip arbeitender Entfernungsmesser bekannt, der auf einen Schrittmotor montiert ist und dadurch den Messstrahl in einer Ebene verschwenken kann.From the study "Development of an Infrared Radar Sensor System for 3D Obstacle Detection" by Frank Schwarz of the Technical University of Darmstadt, Department of Control Systems Theory and Robotics, issued on 01.05.1992, a known on the phase measurement distance meter is known, which is mounted on a stepper motor and thus can pivot the measuring beam in one plane.
Aufgabenstellungtask
Aufgabe der Erfindung ist es daher, einen Scanner für die genannten Vorrichtung zur optischen Erfassung von Objekten zu schaffen, bei dem der umlaufende Strahl auf einfachere und kostengünstigere Weise erzeugt wird.The object of the invention is therefore to provide a scanner for said device for the optical detection of objects, in which the circulating beam is generated in a simpler and more cost-effective manner.
Gelöst wird die Aufgabe mit einem Scanner gemäß Anspruch 1.The problem is solved with a scanner according to claim 1.
Es ist vorgesehen, daß die Sendeeinrichtung und der Strahlungsempfänger um eine Achse drehbar gelagert sind, ein Drehantrieb vorgesehen ist, der die Sendeeinrichtung und den Strahlungsempfänger in einem gewünschten Winkelbereich verschwenkt bzw. mit gewünschter Geschwindigkeit kontinuierlich rotiert und dass die Sendeeinrichtung von dem Scanner direkt abstrahlend angeordnet ist. Der Antrieb kann z. B. ein üblicher Elektromotor aber auch jede andere für einen Drehantrieb geeignete Einrichtung sein.It is envisaged that the transmitting device and the radiation receiver are rotatably mounted about an axis, a rotary drive is provided which pivots the transmitting device and the radiation receiver in a desired angular range or continuously rotates at the desired speed and arranged that the transmitting device of the scanner directly radiating is. The drive can z. B. a conventional electric motor but also any other suitable for a rotary drive device.
Ein wesentlicher Vorteil ist, daß der erfindungsgemäße Scanner konstruktiv einfach und in kleiner Baugröße verwirklicht werden kann.A significant advantage is that the scanner according to the invention can be realized structurally simple and in a small size.
Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.Advantageous embodiments of the invention are specified in the subclaims.
Danach ist vorgesehen, daß der Scanner mehrere beabstandete Sendeeinrichtungen aufweist, die um eine gemeinsame Drehachse bewegt werden können. Auf diese Weise läßt sich pro Umlauf ein größerer Bereich des Überwachungssektors abdecken. Besonders vorteilhaft, insbesondere im Hinblick auf eine einfache Auswertung, sind die Sendeeinrichtungen untereinander in einer Reihe parallel zur Drehachse angeordnet, wobei ihre Strahlen im wesentlichen in einer gemeinsamen Ebene liegen. Mit einem solchen Scanner läßt sich in einfacher Weise ein Überwachungssektor in einem gewünschten Raumwinkel abtasten und auswerten. Man kann also in einfacher Weise mit diesen Ausgestaltungen ein 3D-”Entfernungs”-Bild des gewünschten Überwachungssektors erhalten.Thereafter, it is provided that the scanner has a plurality of spaced transmitting devices which can be moved about a common axis of rotation. In this way, a larger area of the surveillance sector can be covered per circulation. Particularly advantageous, in particular with regard to a simple evaluation, the transmitting devices are arranged one below the other in a row parallel to the axis of rotation, with their rays lying substantially in a common plane. With such a scanner can be easily scan a surveillance sector in a desired solid angle and evaluate. It is thus easy to obtain a 3D "distance" image of the desired surveillance sector with these embodiments.
In dem Scanner ist ein Strahlungsempfänger vorgesehen. Zur Erhöhung der Auswertegeschwindigkeit können aber auch mehrere Empfänger vorgesehen werden, die jeweils örtlichen Bereiche der reflektierten Impulsstrahlung zugeordnet sind und die z. B. parallel ausgelesen werden.In the scanner, a radiation receiver is provided. To increase the evaluation speed but also several receivers can be provided which are each associated with local areas of the reflected pulse radiation and the z. B. be read in parallel.
Eine Vorrichtung, die mit einem erfindungsgemäßen Scanner arbeitet, kann z. B. insbesondere in Verbindung mit Fahrzeugen zur Hinderniserkennung, Objektauswertung bzw auch zur Regelung der Einstellung der optischen Achse des Scheinwerfers relativ zum Fahrzeug und zur Fahrbahnoberfläche eingesetzt werden. In aller Regel enthält eine derartige Vorrichtung einen oder mehrere erfindungsgemäße Scanner, die außen an der Karosserie bzw auch im Scheinwerfergehäuse angeordnet werden können und die mit einer Auswerteeinrichtung zur entsprechenden Datenverarbeitung kombiniert sind.A device that works with a scanner according to the invention, z. B. especially in conjunction with vehicles for obstacle detection, object evaluation or to control the adjustment of the optical axis of the headlamp relative to the vehicle and the road surface can be used. As a rule, such a device contains one or more scanners according to the invention, which can be arranged on the outside of the body or in the headlight housing and which are combined with an evaluation device for the corresponding data processing.
Ausführungsbeispielembodiment
Im Folgenden soll die Erfindung an Hand einer Abbildung im Detail erläutert werden:In the following, the invention will be explained in detail with reference to a figure:
In
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE19757849A DE19757849C5 (en) | 1997-12-24 | 1997-12-24 | Scanner and device for the optical detection of obstacles, and their use |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19757849A DE19757849C5 (en) | 1997-12-24 | 1997-12-24 | Scanner and device for the optical detection of obstacles, and their use |
Publications (3)
Publication Number | Publication Date |
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DE19757849A1 DE19757849A1 (en) | 1999-07-08 |
DE19757849B4 DE19757849B4 (en) | 2004-12-23 |
DE19757849C5 true DE19757849C5 (en) | 2013-11-21 |
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DE19757849A Expired - Lifetime DE19757849C5 (en) | 1997-12-24 | 1997-12-24 | Scanner and device for the optical detection of obstacles, and their use |
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DE4115747A1 (en) * | 1991-05-14 | 1992-11-19 | Hipp Johann F | Object and vehicle warning system - uses laser range finder as scanner to identify obstructions or objects ahead of vehicle and issues warning to driver |
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1997
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DE3741259A1 (en) * | 1987-12-05 | 1989-06-15 | Hipp Johann F | Method and device for the autonomous steering of a vehicle |
US4952911A (en) * | 1988-05-18 | 1990-08-28 | Eastman Kodak Company | Scanning intrusion detection device |
US4967183A (en) * | 1988-05-18 | 1990-10-30 | Eastman Kodak Company | Method of intrusion detection over a wide area |
DE3821892C1 (en) * | 1988-06-29 | 1990-02-22 | Johann F. Dipl.-Phys. 2000 Hamburg De Hipp | Method and device for position measurement of container repositioning vehicles |
DE4115747A1 (en) * | 1991-05-14 | 1992-11-19 | Hipp Johann F | Object and vehicle warning system - uses laser range finder as scanner to identify obstructions or objects ahead of vehicle and issues warning to driver |
CA2089105A1 (en) * | 1993-02-09 | 1994-08-10 | Denis Jacob | Borehole laser cavity monitoring system |
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Schwarz, F.: „Entwicklung eines Infrarot-Radarsensorsystems zur 3D-Hinderniserkennung", Studienarbeit, Technische Hochschule Darmstadt, Fachgebiet Regelsystemtheorie und Robotik, abgegeben am 01.05.1992, Seiten 1 - 28 |
Also Published As
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DE19757849A1 (en) | 1999-07-08 |
DE19757849B4 (en) | 2004-12-23 |
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