WO2004076234A1 - Catadioptric camera for a technical device, especially a motor vehicle - Google Patents

Catadioptric camera for a technical device, especially a motor vehicle Download PDF

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Publication number
WO2004076234A1
WO2004076234A1 PCT/EP2004/001478 EP2004001478W WO2004076234A1 WO 2004076234 A1 WO2004076234 A1 WO 2004076234A1 EP 2004001478 W EP2004001478 W EP 2004001478W WO 2004076234 A1 WO2004076234 A1 WO 2004076234A1
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WO
WIPO (PCT)
Prior art keywords
mirror
image sensor
motor vehicle
vehicle
camera
Prior art date
Application number
PCT/EP2004/001478
Other languages
German (de)
French (fr)
Inventor
Uwe Franke
Alexander Würz-Wessel
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE10310264A external-priority patent/DE10310264A1/en
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2004076234A1 publication Critical patent/WO2004076234A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/102—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 360 degree surveillance camera system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8066—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring rearward traffic

Definitions

  • Catadioptric camera for a technical device in particular a motor vehicle
  • the invention relates to a catadioptric camera for a technical device, in particular a motor vehicle.
  • JP 60240545 describes a device for the automatic control of operating parts of a motor vehicle, which is intended to assist the driver in particular when entering tunnels.
  • An environmental detection unit is used here, which essentially comprises an optical system, a light guide and an image sensor.
  • the optics serve to image the light reflected from the surroundings in front of the vehicle onto the light guide.
  • the light is then guided to the image sensor via the light guide.
  • the image sensor comprises a CCD chip and a register, by means of which a video signal is generated.
  • the video signal is evaluated to determine whether a tunnel is ahead of the vehicle. In the event that a tunnel is detected, the headlights can be automatically activated, for example, and the windows of the motor vehicle can be closed.
  • the document DE 20115924 Ul describes an image sensor with fiber optics for automobiles.
  • the image sensor consists of a video camera, a lens, a fiber optic cable and a monitor screen.
  • the lens is attached to one end of the fiber optic cable so that it can take suitable pictures.
  • Several fiber optic cables and lenses are attached to the vehicle at a suitable location.
  • the fiber optic cables are installed in direct connection with the vehicle, for example on the side mirror, on the bumpers or on the rear lights.
  • WO 98/09185 known.
  • such systems transfer an optical image between two different locations by means of a bundle of connected optical fibers.
  • a planar microlens array is attached to the ends of an optical fiber bundle.
  • the microlenses serve to appropriately direct the optical radiation from the environment into the core of the light waveguide. ter to couple.
  • the optical radiation after it has spread along the optical waveguide, is passed on to the display position in a suitable manner.
  • the display can be done directly or using a CCD chip and video monitor.
  • a camera monitoring unit to be arranged in the rear area of a motor vehicle comprises an electronically operated recording camera and an image display and / or display device arranged visibly for the driver.
  • the recording camera is installed on a one-dimensional or multi-dimensional circuit board of a rear light unit, which has conductor tracks or the like.
  • the camera and its electrical and mechanical connecting elements are preferably installed on an additional (third) rear light unit, which is arranged approximately in the center of the rear of the motor vehicle and is equipped with light-emitting diodes.
  • the area that can be monitored depends largely on the location of the rear light.
  • such a device can only be produced with great effort, which in turn has correspondingly high costs for the purchase and for repairs.
  • the invention is therefore based on the object of creating a device for monitoring the surroundings of a technical device, in particular a vehicle by means of an environmental sensor, with which the largest possible area can be detected and the effort for producing the device is as low as possible is.
  • a catadioptric camera for a technical device in particular a motor vehicle
  • This device comprises at least one image sensor for environmental detection, the image sensor consisting of an optical-electrical converter and associated optics.
  • the ambient information is acquired, in the form of optical radiation, it is reflected on at least one mirror before it strikes the image sensor.
  • the mirror for reflecting the optical radiation is attached separately from the image sensor, in particular directly on the outer skin of the technical device and / or on attachments of the technical device.
  • the environmental information thus acquired can be made available to the user of the technical device and / or internal systems of the technical device.
  • the device can be used in a particularly advantageous manner in connection with a motor vehicle; the subject matter of the invention will now be described in detail with reference to such an automotive application.
  • a modular structure of the environment detection system is created in that the mirror is attached directly to the motor vehicle separately from the image sensor. Thanks to this modular structure, the system can be manufactured in a particularly simple manner.
  • the mirror can optionally be attached to the body or to the add-on parts of the motor vehicle as an additional component. For example, it is conceivable here for the mirror to be attached to the bumpers, side mirrors, to the cover glass of lighting units or to any other attachment parts of the motor vehicle.
  • the system for environmental detection can be advantageously used by using additional optical means which are introduced into the beam path between the image sensor and the mirror be expanded.
  • optical means for example, optical lenses influence the imaging of the optical radiation on the image sensor. It is conceivable that an entire system of optical lenses is introduced into the beam path in order to minimize imaging errors.
  • the imaging errors include, for example, chromatic aberration, coma, astigmatism and field curvature.
  • LWL individual optical fibers
  • One advantage here is that the image sensor does not necessarily have to be attached in the direct field of vision to the mirror.
  • the image sensor can thus be installed at a protected location, for example in an intermediate space of the vehicle body behind a panel.
  • several fiber optic cables are combined into one fiber optic bundle.
  • Fiber rods For image transmission using fiber optic bundles, however, it is necessary that the fibers are arranged in the same order on both end faces in order to avoid information falsification. It is therefore also conceivable to use fiber rods in which the individual fibers are fused together. Fiber rods have the property that they can be bent with the addition of heat, even after the end surfaces have been finished. The rigid structure of fiber rods has a particularly negative effect on manufacturing technology, but this disadvantage is offset by the fact that the sequence of the individual fibers does not change when they are installed in a system.
  • the mirror on which the optical radiation is reflected is a mirror with a conical transverse cut.
  • Conical in the sense of this invention is understood to mean a shape of the mirror in which it corresponds to a paraboloid or hyperboloid or a combination of conic sections (parabola, hyperbola, ellipse).
  • Such mirrors are preferably used for panoramic cameras, as described, for example, in the "Folded Catadioptric Cameras" font by Shree K. Nayar and Ven ata Peri, under the link hyperlink www.cs.columbia.edu/ CAVE / publinks / nayar_cvpr_199 _l.pdf.
  • parabolic and hyperbolic mirrors for example, are proposed in addition to planar mirrors.
  • the image sensor and the mirror form a compact, constructive unit.
  • a major advantage when using mirrors of this type with a conical cross section is that a significantly larger surrounding area can thereby be detected than would be the case with a single planar mirror. It is therefore also conceivable, for example, that the entire area of 360 ° around the vehicle is covered by at least two mirrors being attached to the vehicle. Preferably, each of these mirrors is attached to the diagonally opposite outermost corners of the vehicle.
  • the mirror for reflecting the optical radiation is advantageously attached to a lighting unit, in particular to a lighting cover of the motor vehicle.
  • the mirror is preferably mounted directly behind the respective lighting cover and is therefore hardly recognizable to people in the vicinity of the motor vehicle. On the one hand, this results in a largely neutral appearance, which is often required in terms of vehicle design.
  • every time the lighting covers are washed the field of vision of the camera is also cleaned.
  • lighting covers are usually attached to those positions of a motor vehicle which are due to their aerodynamic properties hardly contaminate or have a self-cleaning property.
  • the device according to the invention can be used in a motor vehicle, in that the mirror is in particular attached to the rear of the vehicle in the region of the trunk handle. Attaching the device to the rear of the motor vehicle is suitable, for example, for use as a parking aid.
  • the device serves as an electronic rearview mirror and the driver can see the recorded environmental data directly in the form of images on a display.
  • the recorded environmental data are forwarded to in-vehicle systems for evaluation.
  • the evaluation is carried out using image processing methods. Methods are known to the person skilled in the art for this, by means of which a movement analysis or a distance determination can be carried out. These include optical flow, the tracking of features in the image and the evaluation of perspective views using inverse
  • the device according to the invention can also be attached to other locations of the vehicle, depending on the application, for example the mirror can be integrated in the third brake light (rear, center) on the vehicle.
  • the Lane Assistant which warns the driver with a signal when he leaves the lane. When used as an electronic mirror to monitor the blind spot, the driver is warned of obstacles that he would otherwise not be able to see.
  • the invention is of course not limited to use in motor vehicles, but use in connection with work machines is also conceivable.
  • driverless transport systems are used in the production area, in which the device according to the invention is used in particular for monitoring the blind spot angle suitable. It is also possible to attach the mirror to a robot arm, in particular for observing areas that are difficult to see.
  • FIG. 1 Basic structure of the catadioptric camera.
  • 2a shows a perspective view of a mounting form of a camera known from the prior art.
  • Fig. 2b side view of an attachment form known from the prior art of a camera.
  • 3a shows a perspective view of the integration of a catalytic camera on a motor vehicle.
  • Fig. 1 the basic structure of the catadioptric camera is shown.
  • the optical radiation is reflected on a mirror (4) in such a way that it is deflected in the direction of the image sensor (1).
  • the image sensor (1) comprises an optical system (3) which images the optical radiation onto the optical-electrical converter (2).
  • the optical radiation is converted into an electrical camera signal by means of the optical-electrical converter (2).
  • the device according to the invention provides that the mirror (4) is arranged separately from the image sensor (1).
  • additional optical means (5) can be introduced into the beam path between the image sensor (1) and the mirror (4), for example in order to minimize image errors.
  • FIG. 2a shows the perspective view of an attachment form of a camera (10) known from the prior art on the rear of a motor vehicle.
  • the camera (10) is here attached next to the trunk handle. This reset. A position that has been designed aerodynamically so that the handle becomes as dirty as possible is guaranteed by a largely clean camera (10).
  • the camera (10) is not visible to the people in the vicinity of the motor vehicle.
  • the installation location set back against the outermost edge of the vehicle has the disadvantage that only part of the rear area can be observed.
  • the camera field of view (20) is limited either by the body parts protruding from the side or by the structure of the camera, so that only a small detection area (30) can be realized.
  • FIG. 2b shows the side view of an attachment form of a camera (10) known from the prior art to the rear of a motor vehicle.
  • the bumper (40) projecting from the camera (10) limits the camera field of view (20) and only a small area can be detected according to FIG. 2a.
  • 3a shows the perspective view of the integration of a catadioptric camera on the rear of a motor vehicle.
  • the mirror (4) of the catadioptric camera is integrated in the brake light (50).
  • this embodiment also ensures neutrality with regard to design requirements.
  • this area is designed in such a way that it pollutes relatively little.
  • a significant advantage is the significantly larger detection area (30).
  • the camera field of view (20) is only limited due to protruding body parts.
  • 3b shows the side view of the integration of a catadioptric camera (10) on the rear of a motor vehicle.
  • the mirror (4) is integrated in the brake light (50).
  • a significantly larger field of view (20) can be realized on the basis of this position compared to FIG. 2b.
  • the camera (10) is mounted in a protected position below the mirror (4) in the trunk.
  • the mirror (4) is designed in the form of an additional plug-in component.
  • the brake light (50) is therefore designed such that it includes a receiving device for a pluggable mirror.
  • the same brake light (50) can be used in all vehicles of a model variant, the mirror (4) and the camera (10) can then also be subsequently integrated into the vehicle if desired.
  • the production of such a brake light (50), which can be subsequently expanded with a mirror is only slightly more expensive than a conventional brake light.
  • the invention thus also enables an economically advantageous retrofit solution. This means that standard technical equipment can also be inexpensively retrofitted with individual mirrors and cameras.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Rear-View Mirror Devices That Are Mounted On The Exterior Of The Vehicle (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to a catadioptric camera (10) for a technical device, especially a motor vehicle. Said catadioptric camera comprises an image sensor for detecting the environment. The image sensor comprises an optoelectric converter and a lens associated therewith. Said environment information is reflected, in the form of optical rays, by at least one mirror (4) before impinging on the image sensor for detection. The mirror for reflecting the optical rays has, preferably, a cone-shaped cross-section in order to provide a larger detection area compared to traditional cameras. The mirror is thus arranged in a separate manner from the image sensor; it is more particularly, placed directly on the surface of the technical device or on add-ons of the technical device. The device can be produced at low cost due to the modular structure thereof and can be integrated into a motor vehicle in a simple manner. The design of the vehicle remains primarily unchanged since the mirror of the catadioptric camera is visible only in the surrounding area of the vehicle.

Description

Böpple Böpple
Katadioptrische Kamera für eine technische Einrichtung, insbesondere ein KraftfahrzeugCatadioptric camera for a technical device, in particular a motor vehicle
Die Erfindung betrifft eine katadioptrische Kamera für eine technische Einrichtung, insbesondere ein Kraftfahrzeug.The invention relates to a catadioptric camera for a technical device, in particular a motor vehicle.
Zur Unterstützung des Fahrers werden künftige Fahrzeuge mit Umgebungserfassenden Systemen ausgestattet. Derartige Systeme dienen dazu, den Fahrer vor Hindernissen und anderen Gefahrenquellen zu warnen, um damit die Anzahl der Verkehrsunfälle zu reduzieren. Durch die elektronische Erfassung des Toten- Winkels kann der Fahrer beispielsweise beim Einparken erheblich unterstützt werden. Die Erfassung der Umgebungsinforma- tion erfolgt dabei mittels bildgebender Sensoren. Hierzu können beispielsweise CCD-Sensoren, welche im sichtbaren Spektrum empfindlich sind, oder Infrarot-Sensoren eingesetzt werden. Ein ganz wesentlicher Punkt beim Einsatz derartiger Sensoren in Fahrzeugen ist der Einbauort, dieser hängt nicht al- lein von der Aufgabenstellung und damit von dem zu erfassenden Bereich ab, sondern es müssen auch Anforderungen an das Fahrzeugdesign sowie weitere für den Betrieb des Systems relevante Parameter berücksichtigt werden. Die mittels einem System zur Umgebungserfassung aufgenommene Umgebungsinforma- tion kann dem Fahrer beispielsweise direkt auf einem Display angezeigt werden oder an fahrzeuginterne Systeme zur Auswertung weitergeleitet werden. In der Schrift JP 60240545 wird eine Vorrichtung zur automatischen Ansteuerung von Bedienteilen eines Kraftfahrzeugs beschrieben, welche den Fahrer insbesondere beim Einfahren in Tunnels unterstützen soll. Hierbei wird eine Umgebungserfas- sungseinheit eingesetzt, welche im Wesentlichen eine Optik, einen Lichtleiter sowie einen Bildsensor umfasst. Die Optik dient dazu, das von der dem Fahrzeug vorausliegenden Umgebung reflektierte Licht auf den Lichtleiter abzubilden. Anschließend wird das Licht über den Lichtleiter zum Bildsensor ge- führt. Wobei der Bildsensor einen CCD-Chip sowie ein Register umfasst, mittels dem ein Videosignal erzeugt. Das Videosignal wird dahingehend ausgewertet, ob dem Fahrzeug ein Tunnel vorausliegt. Für den Fall, dass ein Tunnel detektiert wird, können beispielsweise automatisch die Scheinwerfer aktiviert, sowie die Fenster des Kraftfahrzeugs geschlossen werden.To support the driver, future vehicles will be equipped with environment-sensing systems. Systems of this type serve to warn the driver of obstacles and other sources of danger in order to reduce the number of traffic accidents. By electronically recording the blind spot angle, the driver can be given considerable support when parking, for example. The acquisition of the environmental information takes place by means of imaging sensors. For this purpose, for example, CCD sensors, which are sensitive in the visible spectrum, or infrared sensors can be used. A very important point when using such sensors in vehicles is the installation location, which does not depend solely on the task and thus on the area to be recorded, but also requirements on the vehicle design and other parameters relevant to the operation of the system must be taken into account become. The environmental information recorded by means of a system for environmental detection can, for example, be shown directly to the driver on a display or be forwarded to in-vehicle systems for evaluation. JP 60240545 describes a device for the automatic control of operating parts of a motor vehicle, which is intended to assist the driver in particular when entering tunnels. An environmental detection unit is used here, which essentially comprises an optical system, a light guide and an image sensor. The optics serve to image the light reflected from the surroundings in front of the vehicle onto the light guide. The light is then guided to the image sensor via the light guide. The image sensor comprises a CCD chip and a register, by means of which a video signal is generated. The video signal is evaluated to determine whether a tunnel is ahead of the vehicle. In the event that a tunnel is detected, the headlights can be automatically activated, for example, and the windows of the motor vehicle can be closed.
In der Schrift DE 20115924 Ul wird ein Bildaufnehmer mit Faseroptik für Automobile beschrieben. Der Bildaufnehmer besteht dabei aus einer Videokamera, einem Objektiv, einem Glasfaserkabel sowie einem Monitorbildschirm. Wobei das Objektiv an einem Ende des Glasfaserkabels befestigt ist, um damit geeignete Bilder aufnehmen zu können. Mehrere Glasfaserkabel und Objektive sind jeweils an einer geeigneten Stelle am Fahrzeug befestigt. Die Montage der Glasfaserkabel er- folgt hierbei in direkter Verbindung mit dem Fahrzeug, beispielsweise am Seitenspiegel, an den Stoßfängern oder an den Rückleuchten.The document DE 20115924 Ul describes an image sensor with fiber optics for automobiles. The image sensor consists of a video camera, a lens, a fiber optic cable and a monitor screen. The lens is attached to one end of the fiber optic cable so that it can take suitable pictures. Several fiber optic cables and lenses are attached to the vehicle at a suitable location. The fiber optic cables are installed in direct connection with the vehicle, for example on the side mirror, on the bumpers or on the rear lights.
Systeme welche zur optischen Anzeige des Toten-Winkels bei Kraftfahrzeugen dienen, sind aus der OffenlegungsschrifSystems which serve for the visual display of the blind spot angle in motor vehicles are from the published specification
WO 98/09185 bekannt. Derartige Systeme transferieren hierfür ein optisches Bild zwischen zwei unterschiedlichen Orten mittels einem Bündel zusammenhängender optischer Lichtwellenleiter. Hierfür ist an den Enden eines Lichtwellenleiterbündels jeweils ein planares Mikrolinsen-Array angebracht. Zum einen dienen die Mikrolinsen dazu, die optische Strahlung aus der Umgebung in geeigneter Weise in den Kern der Lichtwellenlei- ter einzukoppeln. Zum anderen wird mit den Mikrolinsen die optische Strahlung, nachdem sich diese entlang der Lichtwellenleiter ausgebreitet hat, in einer geeigneten Weise zur Anzeigeposition weitergeleitet. Die Anzeige kann hierbei direkt oder mittels einem CCD-Chip und Videomonitor erfolgen.WO 98/09185 known. For this purpose, such systems transfer an optical image between two different locations by means of a bundle of connected optical fibers. For this purpose, a planar microlens array is attached to the ends of an optical fiber bundle. On the one hand, the microlenses serve to appropriately direct the optical radiation from the environment into the core of the light waveguide. ter to couple. On the other hand, with the microlenses, the optical radiation, after it has spread along the optical waveguide, is passed on to the display position in a suitable manner. The display can be done directly or using a CCD chip and video monitor.
In der Gebrauchsmusteranmeldung DE 29806638 Ul wird eine im Heckbereich eines Kraftfahrzeugs anzuordnende Kameraüberwachungseinheit vorgestellt. Die Kameraüberwachungseinheit um- fasst eine elektronisch betriebene Aufnahmekamera, sowie eine für den Fahrer sichtbar angeordnete Bildwiedergabe- und/oder Anzeigevorrichtung. Die Aufnahmekamera ist dabei auf einem Leiterbahnen oder dergleichen aufweisenden, ein- oder mehrdimensionalen Schaltungsträger einer Heckleuchteneinheit in- stalliert. Vorzugsweise ist die Kamera dabei mit ihren elektrischen und mechanischen Verbindungselementen an einer etwa mittig im Heckbereich des Kraftfahrzeugs angeordneten zusätzlichen (dritten) mit Leuchtdioden bestückten Heckleuchteneinheit installiert. Jedoch hängt der überwachbare Bereich maß- gebend vom Einbauort der Heckleuchte ab. Zudem lässt sich eine derartige Vorrichtung nur mit hohem Aufwand herstellen, was wiederum entsprechend hohe Kosten bei der Anschaffung sowie bei Reparaturen zur Folge hat .In the utility model application DE 29806638 Ul, a camera monitoring unit to be arranged in the rear area of a motor vehicle is presented. The camera monitoring unit comprises an electronically operated recording camera and an image display and / or display device arranged visibly for the driver. The recording camera is installed on a one-dimensional or multi-dimensional circuit board of a rear light unit, which has conductor tracks or the like. The camera and its electrical and mechanical connecting elements are preferably installed on an additional (third) rear light unit, which is arranged approximately in the center of the rear of the motor vehicle and is equipped with light-emitting diodes. However, the area that can be monitored depends largely on the location of the rear light. In addition, such a device can only be produced with great effort, which in turn has correspondingly high costs for the purchase and for repairs.
Der Erfindung liegt daher die Aufgabe zu Grunde, eine Vorrichtung zur Überwachung der Umgebung einer technischen Einrichtung, insbesondere eines Kra tfahrzeugs mittels eines Umgebungssensors zu schaffen, womit ein möglichst großer Bereich erfasst werden kann und wobei der Aufwand für die Her- Stellung der Vorrichtung möglichst gering ist.The invention is therefore based on the object of creating a device for monitoring the surroundings of a technical device, in particular a vehicle by means of an environmental sensor, with which the largest possible area can be detected and the effort for producing the device is as low as possible is.
Die Aufgabe wird gemäß der Erfindung durch eine Vorrichtung mit den Merkmalen des Patentanspruch 1 gelöst. Vorteilhafte Ausgestaltungen und Weiterbildungen werden in den Unteran- Sprüchen aufgezeigt. Gemäß der Erfindung wird eine katadioptrische Kamera für eine technische Einrichtung, insbesondere ein Kraftfahrzeug, bereitgestellt . Diese Vorrichtung umf sst wenigstens einen Bildsensor zur Umgebungserfassung, wobei der Bildsensor aus einem optisch-elektrischen Wandler sowie einer zugehörigen Optik besteht. Bei der Erfassung der UmgebungsInformation, in Form von optischer Strahlung, wird diese vor dem Auftreffen am Bildsensor an wenigstens einem Spiegel reflektiert. In einer erfinderischen Weise ist dabei der Spiegel zur Reflektion der optischen Strahlung getrennt vom Bildsensor, insbesondere direkt an der Außenhaut der technischen Einrichtung und/oder an Anbauteilen der technischen Einrichtung angebracht. In einer vorteilhaften Weise kann die damit erfasste Umgebungsinformation dem Nutzer der technischen Einrichtung und/oder in- ternen Systemen der technischen Einrichtung zur Verfügung gestellt werden.The object is achieved according to the invention by a device with the features of claim 1. Advantageous refinements and developments are shown in the subclaims. According to the invention, a catadioptric camera for a technical device, in particular a motor vehicle, is provided. This device comprises at least one image sensor for environmental detection, the image sensor consisting of an optical-electrical converter and associated optics. When the ambient information is acquired, in the form of optical radiation, it is reflected on at least one mirror before it strikes the image sensor. In an inventive manner, the mirror for reflecting the optical radiation is attached separately from the image sensor, in particular directly on the outer skin of the technical device and / or on attachments of the technical device. In an advantageous manner, the environmental information thus acquired can be made available to the user of the technical device and / or internal systems of the technical device.
In besonders vorteilhafter Weise lässt sich die Vorrichtung im Zusammenhang mit einem Kraftfahrzeug nutzen, nachfolgend soll nun der Erfindungsgegenstand anhand einer solchen automobilen Anwendung detailliert beschrieben werden. Mit der vorliegenden Erfindung wird ein modularer Aufbau des Umgebungserfassungssystems geschaffen, indem der Spiegel getrennt vom Bildsensor direkt am Kraftfahrzeug angebracht wird. Durch diesen modularen Aufbau lässt sich das System auf eine besonders einfache Weise herstellen. Wobei der Spiegel optional, als zusätzliche Komponente, an der Karosserie bzw. an den Anbauteilen des Kraftfahrzeugs angebracht werden kann. Beispielsweise ist es hierbei denkbar, dass der Spiegel an den Stoßfängern, Seitenspiegeln, am Abdeckglas von Beleuchtungs- einheiten oder beliebigen weiteren Anbauteilen des Kraftfahrzeugs angebracht wird.The device can be used in a particularly advantageous manner in connection with a motor vehicle; the subject matter of the invention will now be described in detail with reference to such an automotive application. With the present invention, a modular structure of the environment detection system is created in that the mirror is attached directly to the motor vehicle separately from the image sensor. Thanks to this modular structure, the system can be manufactured in a particularly simple manner. The mirror can optionally be attached to the body or to the add-on parts of the motor vehicle as an additional component. For example, it is conceivable here for the mirror to be attached to the bumpers, side mirrors, to the cover glass of lighting units or to any other attachment parts of the motor vehicle.
Neben der dem Bildsensor zugeordneten Optik kann durch die Verwendung weiterer optischer Mittel, welche in den Strahlengang zwischen Bildsensor und Spiegel eingebracht werden, das System zur Umgebungserfassung in einer vorteilhaften Weise erweitert werden. Als weiteres optisches Mittel beeinflussen dabei z.B. optische Linsen die Abbildung der optischen Strahlung auf den Bildsensor. Es ist dabei denkbar, dass ein ganzes System optischer Linsen in den Strahlengang eingebracht wird, um damit Abbildungsfehler zu minimieren. Zu den Abbildungsfehlern gehören beispielsweise chromatische Abberation, Koma, Astigmatismus und Bildfeldwölbung.In addition to the optics assigned to the image sensor, the system for environmental detection can be advantageously used by using additional optical means which are introduced into the beam path between the image sensor and the mirror be expanded. As a further optical means, for example, optical lenses influence the imaging of the optical radiation on the image sensor. It is conceivable that an entire system of optical lenses is introduced into the beam path in order to minimize imaging errors. The imaging errors include, for example, chromatic aberration, coma, astigmatism and field curvature.
Jedoch ist es in einer besonders vorteilhaften Weise auch denkbar, als weiteres optisches Mittel ein Bündel einzelner Lichtwellenleiter (LWL) in den Strahlengang zwischen Bildsensor und Spiegel einzubringen. Ein Vorteil ist es hierbei, dass der Bildsensor nicht zwingend in direktem Sichtbereich zum Spiegel angebracht sein muss . Somit kann die Montage des Bildsensors an einem geschützten Ort erfolgen, beispielsweise in einem Zwischenraum der Fahrzeugkarosserie hinter einer Verkleidung. Wobei es in einer weiteren vorteilhaften Ausges- taltungsform der Erfindung auch denkbar ist, mehrere Spiegel am Fahrzeug anzubringen und die damit reflektierte optische Strahlung auf einen einzigen Bildsensor abzubilden. Hierbei werden mehrere LWL zu einem LWL-Bündel zusammengefasst . Für die Bildübertragung mittels LWL-Bündel ist es jedoch erforderlich, dass an beiden Endflächen die Fasern in gleicher Reihenfolge angeordnet sind, um Informationsverfälschungen zu vermeiden. Deshalb ist auch eine Verwendung von Faserstäben denkbar, bei welchen die Einzelfasern miteinander verschmolzen sind. Faserstäbe besitzen die Eigenschaft, dass diese unter Zufuhr von Wärme gebogen werden können, auch nachträglich nachdem die Endflächen bereits fertig bearbeitet sind. Insbe- sondere auf die Fertigungstechnik wirkt sich bei den Faserstäben deren starre Struktur nachteilig aus, jedoch wird dieser Nachteil dadurch ausgeglichen, dass sich die Reihenfolge der Einzelfasern beim Einbau in ein System nicht ändert.However, it is also conceivable in a particularly advantageous manner to introduce a bundle of individual optical fibers (LWL) into the beam path between the image sensor and the mirror as a further optical means. One advantage here is that the image sensor does not necessarily have to be attached in the direct field of vision to the mirror. The image sensor can thus be installed at a protected location, for example in an intermediate space of the vehicle body behind a panel. In a further advantageous embodiment of the invention, it is also conceivable to attach a plurality of mirrors to the vehicle and to image the optical radiation reflected thereby on a single image sensor. Here, several fiber optic cables are combined into one fiber optic bundle. For image transmission using fiber optic bundles, however, it is necessary that the fibers are arranged in the same order on both end faces in order to avoid information falsification. It is therefore also conceivable to use fiber rods in which the individual fibers are fused together. Fiber rods have the property that they can be bent with the addition of heat, even after the end surfaces have been finished. The rigid structure of fiber rods has a particularly negative effect on manufacturing technology, but this disadvantage is offset by the fact that the sequence of the individual fibers does not change when they are installed in a system.
In einer weiteren vorteilhaften Ausgestaltung der Erfindung handelt es sich bei dem Spiegel an dem die optische- Strahlung reflektiert wird, um einen Spiegel mit kegelförmigem Quer- schnitt. Unter kegelförmig im Sinne dieser Erfindung wird eine Form des Spiegels verstanden, bei welcher dieser einem Pa- raboloiden oder Hyperboloiden oder einer Kombination von Kegelschnitten (Parabel, Hyperbel, Ellipse) entspricht. Derar- tige Spiegel werden vorzugsweise bei panoramischen Kameras eingesetzt, wie sie Beispielsweise in der Schrift "Folded Catadioptric Cameras", von Shree K. Nayar und Ven ata Peri, unter dem Link Hyperlink www.cs.columbia.edu/ CAVE/publinks/nayar_cvpr_199 _l.pdf beschrieben werden. Für katadioptrische Kamerasysteme mit gefaltetem Strahlengang werden dort neben planaren Spiegeln z.B. auch parabolische und hyperbolische Spiegel vorgeschlagen. Hierbei bilden der Bildsensor und der Spiegel eine kompakte, konstruktive Einheit. Ein wesentlicher Vorteil bei der Verwendung derartiger Spiegel mit kegelförmigem Querschnitt ist es, dass hiermit ein deutlich größerer Umgebungsbereich erfassbar ist als dies mit einem einzigen planaren Spiegel der Fall wäre. Somit ist es z.B. auch denkbar, dass der gesamte Bereich von 360° um das Fahrzeug erfasst wird, indem wenigstens zwei Spiegel am Fahrzeug angebracht werden. Wobei vorzugsweise jeweils einer dieser Spiegel an den sich diagonal gegenüberliegenden äußersten Ecken des Fahrzeugs angebracht ist.In a further advantageous embodiment of the invention, the mirror on which the optical radiation is reflected is a mirror with a conical transverse cut. Conical in the sense of this invention is understood to mean a shape of the mirror in which it corresponds to a paraboloid or hyperboloid or a combination of conic sections (parabola, hyperbola, ellipse). Such mirrors are preferably used for panoramic cameras, as described, for example, in the "Folded Catadioptric Cameras" font by Shree K. Nayar and Ven ata Peri, under the link hyperlink www.cs.columbia.edu/ CAVE / publinks / nayar_cvpr_199 _l.pdf. For catadioptric camera systems with a folded beam path, parabolic and hyperbolic mirrors, for example, are proposed in addition to planar mirrors. The image sensor and the mirror form a compact, constructive unit. A major advantage when using mirrors of this type with a conical cross section is that a significantly larger surrounding area can thereby be detected than would be the case with a single planar mirror. It is therefore also conceivable, for example, that the entire area of 360 ° around the vehicle is covered by at least two mirrors being attached to the vehicle. Preferably, each of these mirrors is attached to the diagonally opposite outermost corners of the vehicle.
In einer weiteren Ausgestaltungsform wird der Spiegel zur Re- flexion der optischen Strahlung in vorteilhafter Weise an einer Beleuchtungseinheit , insbesondere an einer Beleuchtungs- abdeckung des Kraftfahrzeugs angebracht. Hierbei ist der Spiegel vorzugsweise direkt hinter der jeweiligen Beleuchtungsabdeckung angebracht und somit für sich im Umfeld des Kraftfahrzeugs befindliche Personen kaum erkennbar. Einerseits ergibt sich damit ein weitestgehend neutrales Erscheinungsbild, was oftmals im Hinblick auf das Fahrzeugdesign gefordert wird. Andererseits wird bei jedem Waschen der Beleuchtungsabdeckungen gleichzeitig auch das Sichtfeld der Ka- mera gereinigt. Beleuchtungsabdeckungen sind zudem üblicherweise an denjenigen Positionen eines Kraftfahrz-eugs angebracht, welche aufgrund ihrer aerodynamischen Eigenschaften kaum verschmutzen bzw. eine selbstreinigende Eigenschaft besitzen.In a further embodiment, the mirror for reflecting the optical radiation is advantageously attached to a lighting unit, in particular to a lighting cover of the motor vehicle. Here, the mirror is preferably mounted directly behind the respective lighting cover and is therefore hardly recognizable to people in the vicinity of the motor vehicle. On the one hand, this results in a largely neutral appearance, which is often required in terms of vehicle design. On the other hand, every time the lighting covers are washed, the field of vision of the camera is also cleaned. In addition, lighting covers are usually attached to those positions of a motor vehicle which are due to their aerodynamic properties hardly contaminate or have a self-cleaning property.
In besonders vorteilhafter Weise kann die erfindungsgemäße Vorrichtung bei einem Kraftfahrzeug eingesetzt werden, indem hierbei der Spiegel insbesondere an der Fahrzeugrückseite im Bereich des Kofferraumgriffs angebracht ist. Die Anbringung der Vorrichtung an der Rückseite des Kraftfahrzeugs eignet sich beispielsweise zur Verwendung als Einparkhilfe. Wobei die Vorrichtung als elektronischer Rückspiegel dient und dem Fahrer die aufgenommenen Umgebungsdaten in der Form von Bildern auf einem Display direkt dargestellt werden. Jedoch ist es auch denkbar, dass die erfassten Umgebungsdaten zur Auswertung an fahrzeuginterne Systeme weitergeleitet werden. Beispielsweise wird die Auswertung anhand von Methoden der Bildverarbeitung durchgeführt. Dem Fachmann sind hierzu Methoden bekannt, mittels derer eine Bewegungsanalyse oder eine Entfernungsbestimmung durchgeführt werden kann. Dazu gehören u.a. optischer Fluss, das Tracken von Merkmalen im Bild sowie die Auswertung perspektivischer Ansichten mittels inverserIn a particularly advantageous manner, the device according to the invention can be used in a motor vehicle, in that the mirror is in particular attached to the rear of the vehicle in the region of the trunk handle. Attaching the device to the rear of the motor vehicle is suitable, for example, for use as a parking aid. The device serves as an electronic rearview mirror and the driver can see the recorded environmental data directly in the form of images on a display. However, it is also conceivable that the recorded environmental data are forwarded to in-vehicle systems for evaluation. For example, the evaluation is carried out using image processing methods. Methods are known to the person skilled in the art for this, by means of which a movement analysis or a distance determination can be carried out. These include optical flow, the tracking of features in the image and the evaluation of perspective views using inverse
Abbildung. Selbstverständlich kann die erfindungsgemäße Vorrichtung Anwendungsspezifisch auch an anderen Stellen des Kra tfahrzeugs angebracht werden, beispielsweise kann der Spiegel in die 3. Bremsleuchte (hinten, mittig) am Fahrzeug integriert sein. Weitere Anwendungen sind hierbei beispielsweise der Spurassistent, welcher den Fahrer beim Verlassen der Fahrspur durch ein Signal warnt. Bei der Verwendung als elektronischer Spiegel zur Überwachung des Toten-Winkel wird der Fahrer vor Hindernissen gewarnt, welche er sonst nicht sehen könnte.Illustration. Of course, the device according to the invention can also be attached to other locations of the vehicle, depending on the application, for example the mirror can be integrated in the third brake light (rear, center) on the vehicle. Further applications are, for example, the Lane Assistant, which warns the driver with a signal when he leaves the lane. When used as an electronic mirror to monitor the blind spot, the driver is warned of obstacles that he would otherwise not be able to see.
Die Erfindung ist selbstverständlich nicht auf eine Verwendung in Kraftfahrzeugen beschränkt, sondern es ist auch eine Verwendung im Zusammenhang mit Arbeitsmaschinen denkbar. Bei- spielsweise werden im Produktionsbereich fahrerlose Transportsysteme eingesetzt, bei denen sich die erfindungsgemäße Vorrichtung insbesondere zur Überwachung des Toten-Winkels eignet. Auch ist es möglich, den Spiegel an einem Roboterarm anzubringen, insbesondere zur Beobachtung schlecht einsehbarer Bereiche.The invention is of course not limited to use in motor vehicles, but use in connection with work machines is also conceivable. For example, driverless transport systems are used in the production area, in which the device according to the invention is used in particular for monitoring the blind spot angle suitable. It is also possible to attach the mirror to a robot arm, in particular for observing areas that are difficult to see.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der folgenden Beschreibung von Ausführungsbeispielen aus dem Automobilen Bereich anhand der Figuren. Dabei zeigen:Further features and advantages of the invention result from the following description of exemplary embodiments from the automotive field with reference to the figures. Show:
Fig. 1 Prinzipieller Aufbau der katadioptrischen Kamera. Fig. 2a Perspektivische Ansicht einer aus dem Stand der Technik bekannten Anbringungsform einer Kamera. Fig. 2b Seitenansicht einer aus dem Stand der Technik bekannten Anbringungsform einer Kamera. Fig. 3a Perspektivische Ansicht der Integration einer kata- dioptrischen Kamera an einem Kraftfahrzeug.Fig. 1 Basic structure of the catadioptric camera. 2a shows a perspective view of a mounting form of a camera known from the prior art. Fig. 2b side view of an attachment form known from the prior art of a camera. 3a shows a perspective view of the integration of a catalytic camera on a motor vehicle.
Fig. 3b Seitenansicht der Integration einer katadioptrischen Kamera an einem Kraftfahrzeug.3b side view of the integration of a catadioptric camera on a motor vehicle.
In Fig. 1 wird der prinzipielle Aufbau der Katadioptrischen Kamera gezeigt. Wobei die optische Strahlung an einem Spiegel (4) derart reflektiert wird, dass diese in Richtung des Bildsensors (1) umgelenkt wird. Der Bildsensor (1) umfasst dabei eine Optik (3), welche die optische Strahlung auf den optisch-elektrischen Wandler (2) abbildet. Mittels dem optisch- elektrischen Wandler (2) wird die optische Strahlung in ein elektrisches Kamerasignal gewandelt. Die erfindungsgemäße Vorrichtung sieht es dabei vor, dass der Spiegel (4) getrennt vom Bildsensor (1) angeordnet ist. Wobei alternativ zwischen dem Bildsensor (1) und dem Spiegel (4) weitere optische Mit- tel (5) in den Strahlengang eingebracht werden können, beispielsweise um damit Bildfehler zu minimieren.In Fig. 1 the basic structure of the catadioptric camera is shown. The optical radiation is reflected on a mirror (4) in such a way that it is deflected in the direction of the image sensor (1). The image sensor (1) comprises an optical system (3) which images the optical radiation onto the optical-electrical converter (2). The optical radiation is converted into an electrical camera signal by means of the optical-electrical converter (2). The device according to the invention provides that the mirror (4) is arranged separately from the image sensor (1). Alternatively, additional optical means (5) can be introduced into the beam path between the image sensor (1) and the mirror (4), for example in order to minimize image errors.
Fig. 2a zeigt die perspektivische Ansicht einer aus dem Stand der Technik bekannten Anbringungsform einer Kamera (10) an der Rückseite eines Kraftfahrzeugs. Die Kamera (10) ist hier- bei neben dem Kofferraumgriff angebracht. Diese zurückgesetzte. Position, die aerodynamisch so konstruiert wurde, dass der Griff möglichst wenig verschmutzt, garantiert eine weitestge- hend saubere Kamera (10) . Zudem ist die Kamera (10) bei ge- schlossenem Kofferraum für die sich im Umfeld des Kraftfahrzeugs befindlichen Personen nicht sichtbar. Jedoch hat der gegen die äußerste Fahrzeugkante rückversetzte Einbauort den Nachteil, dass damit lediglich ein Teil des Rückraums beobachtet werden kann. Wobei das Kamerasichtfeld (20) entweder durch die seitlich hervorstehenden Karosserieteile oder durch den Aufbau der Kamera begrenzt wird, so dass damit lediglich ein kleiner Erfassungsbereich (30) realisierbar ist.2a shows the perspective view of an attachment form of a camera (10) known from the prior art on the rear of a motor vehicle. The camera (10) is here attached next to the trunk handle. This reset. A position that has been designed aerodynamically so that the handle becomes as dirty as possible is guaranteed by a largely clean camera (10). In addition, when the trunk is closed, the camera (10) is not visible to the people in the vicinity of the motor vehicle. However, the installation location set back against the outermost edge of the vehicle has the disadvantage that only part of the rear area can be observed. The camera field of view (20) is limited either by the body parts protruding from the side or by the structure of the camera, so that only a small detection area (30) can be realized.
In der Fig. 2b wird die Seitenansicht einer aus dem Stand der Technik bekannten Anbringungsform einer Kamera (10) an der Rückseite eines Kraftfahrzeugs dargestellt . Wobei hierbei der gegenüber der Kamera (10) hervorstehende Stoßfänger (40) das Kamerasichtfeld (20) begrenzt und entsprechend der Fig. 2a lediglich ein kleiner Bereich erfassbar ist.2b shows the side view of an attachment form of a camera (10) known from the prior art to the rear of a motor vehicle. The bumper (40) projecting from the camera (10) limits the camera field of view (20) and only a small area can be detected according to FIG. 2a.
Fig. 3a zeigt die perspektivische Ansicht der Integration einer katadioptrischen Kamera an der Rückseite eines Kraftfahrzeugs. Der Spiegel (4) der katadioptrischen Kamera ist hierbei in die Bremsleuchte (50) integriert. Somit gewährt auch diese Ausführungsform Neutralität hinsichtlich Designanforderungen. Zudem ist dieser Bereich designtechnisch so ausgebildet, dass er relativ wenig verschmutzt. Ein wesentlicher Vorteil ist dabei jedoch der deutlich größere Erfassungsbereich (30) . Durch die Verwendung wenigstens eines Spiegels (4) mit kegelförmigem Querschnitt ist es möglich ein Kamerasichtfeld (20) mit einem Öffnungswinkel von mehr als 180° zu realisieren. Wobei das Kamerasichtfeld (20) hierbei einzig aufgrund hervorstehender Karosserieteile begrenzt wird. In Fig. 3b wird die Seitenansicht der Integration einer katadioptrischen Kamera (10) an der Rückseite eines Kraftfahrzeugs dargestellt. Der Spiegel (4) ist hierbei in die Bremsleuchte (50) integriert. Aufgrund dieser gegenüber der in Fig. 2b vorgesetzten Position lässt sich ein deutlich größeres Sichtfeld (20) realisieren. Hierbei ist die Kamera (10) an einer geschützten Position unterhalb des Spiegels (4) im Kofferraum angebracht. In einer vorteilhaften Weise wird dabei der Spiegel (4) in der Form einer zusätzlich steckbaren Komponente ausgestaltet. Die Bremsleuchte (50) ist deshalb derart ausgestaltet, dass diese eine Aufnahmevorrichtung für einen steckbaren Spiegel umfasst . Somit kann beispielsweise bei allen Fahrzeugen einer Modellvariante dieselbe Bremsleuchte (50) verwendet werden, der Spiegel (4) sowie die Ka- mera (10) kann dann auf Wunsch auch nachträglich in das Fahrzeug integriert werden. Zudem entsteht bei der Fertigung einer derartigen, nachträglich mit einem Spiegel erweiterbaren Bremsleuchte (50) gegenüber einer herkömmlichen Bremsleuchte nur ein geringfügig höherer Aufwand. Die Erfindung ermöglicht somit auch eine wirtschaftlich vorteilhafte Nachrüstlösung. So können auch standardmäßig gefertigte technische Einrichtungen mit Einzelspiegel und Kameras kostengünstig nachgerüstet werden. 3a shows the perspective view of the integration of a catadioptric camera on the rear of a motor vehicle. The mirror (4) of the catadioptric camera is integrated in the brake light (50). Thus, this embodiment also ensures neutrality with regard to design requirements. In addition, this area is designed in such a way that it pollutes relatively little. A significant advantage is the significantly larger detection area (30). By using at least one mirror (4) with a conical cross section, it is possible to realize a camera field of view (20) with an aperture angle of more than 180 °. The camera field of view (20) is only limited due to protruding body parts. 3b shows the side view of the integration of a catadioptric camera (10) on the rear of a motor vehicle. The mirror (4) is integrated in the brake light (50). A significantly larger field of view (20) can be realized on the basis of this position compared to FIG. 2b. The camera (10) is mounted in a protected position below the mirror (4) in the trunk. In an advantageous manner, the mirror (4) is designed in the form of an additional plug-in component. The brake light (50) is therefore designed such that it includes a receiving device for a pluggable mirror. Thus, for example, the same brake light (50) can be used in all vehicles of a model variant, the mirror (4) and the camera (10) can then also be subsequently integrated into the vehicle if desired. In addition, the production of such a brake light (50), which can be subsequently expanded with a mirror, is only slightly more expensive than a conventional brake light. The invention thus also enables an economically advantageous retrofit solution. This means that standard technical equipment can also be inexpensively retrofitted with individual mirrors and cameras.
BβzugszeichenlisteBβzugszeichenliste
1 Bildsensor 2 Optisch-elektrischer Wandler1 image sensor 2 optical-electrical converter
3 Optik3 optics
4 Spiegel4 mirrors
5 Weitere optische Mittel5 Other optical means
10 Kamera 20 Kamerasichtfeld10 camera 20 camera field of view
30 Erfassungsbereich30 detection area
40 Stoßfänger40 bumpers
50 Bremsleuchte 50 brake light

Claims

Patentansprüche claims
1. Katadioptrische Kamera für eine technische Einrichtung, insbesondere ein Kraftfahrzeug, bei der wenigstens ein Bildsensor (1) , bestehend aus einem optisch-elektrischen Wandler (2) und zugehöriger Optik (3), UmgebungsInformation erfasst, wobei die Umgebungsinformation in Form von optischer1. Catadioptric camera for a technical device, in particular a motor vehicle, in which at least one image sensor (1), consisting of an optical-electrical converter (2) and associated optics (3), detects environmental information, the environmental information in the form of optical
Strahlung bei der Erfassung an wenigstens einem Spiegel (4) reflektiert wird, d a d u r c h g e k e n n z e i c h n e t , dass der Spiegel (4) zur Reflektion der optischen Strah- lung getrennt vom Bildsensor (1) direkt an der Außenhaut der technischen Einrichtung und/oder direkt an Anbauteilen der technischen Einrichtung angebracht ist.Radiation during detection is reflected on at least one mirror (4), characterized in that the mirror (4) for reflecting the optical radiation is separated from the image sensor (1) directly on the outer skin of the technical device and / or directly on attachments of the technical device Device is attached.
2. Vorrichtung nach Anspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass in den Strahlengang zwischen Bildsensor (1) und Spiegel (4) weitere optische Mittel (5) eingebracht sind.2. Device according to claim 1, which also means that further optical means (5) are introduced into the beam path between the image sensor (1) and the mirror (4).
3. Vorrichtung nach Anspruch 2 , d a d u r c h g e k e n n z e i c h n e t , dass als weiteres optisches Mittel (5) ein Lichtwellenleiter in den Strahlengang eingebracht ist . 3. Device according to claim 2, characterized in that an optical waveguide is introduced into the beam path as a further optical means (5).
4. Vorrichtung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Spiegel (4) einen kegelförmigen Querschnitt aufweist .4. Device according to one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the mirror (4) has a conical cross section.
5. Vorrichtung nach einem der vorangehenden Ansprüche, d a d u r c h g e k e n n z e i c h n e t , dass der Spiegel (4) ein zusätzliches Teil an einer Beleuchtungseinheit des Fahrzeugs ist, insbesondere Teil der Beleuchtungsabdeckung.5. Device according to one of the preceding claims, that the mirror (4) is an additional part on a lighting unit of the vehicle, in particular part of the lighting cover.
β. Verwendung der Vorrichtung an einem Kraftfahrzeug, wobei der Spiegel (4) insbesondere an der Fahrzeugrückseite im Bereich des Kofferraumgriff angebracht ist.β. Use of the device on a motor vehicle, the mirror (4) being attached in particular to the rear of the vehicle in the region of the trunk handle.
7. Verwendung der Vorrichtung an einem Kraftfahrzeug, wobei der Spiegel (4) in die 3. Bremsleuchte (hinten, mittig) integriert ist.7. Use of the device on a motor vehicle, the mirror (4) being integrated in the third brake light (rear, center).
8. Verwendung der Vorrichtung an einer Arbeitsmaschine, wobei der Spiegel (4) insbesondere an einem Roboterarm angebracht ist. 8. Use of the device on a work machine, the mirror (4) being attached in particular to a robot arm.
PCT/EP2004/001478 2003-02-25 2004-02-17 Catadioptric camera for a technical device, especially a motor vehicle WO2004076234A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2929418A1 (en) * 2008-04-01 2009-10-02 Pierre Robert Leroy Diverted image i.e. rear bumper image, transmitting device for single lens reverse camera in e.g. recreational vehicle, has rectangular plate including folded ends or sides with holes to fix retaining brackets that connect plate to camera

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