CN103364789A - Method and sensor system for detecting target and/or determining space - Google Patents
Method and sensor system for detecting target and/or determining space Download PDFInfo
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- CN103364789A CN103364789A CN2013101008557A CN201310100855A CN103364789A CN 103364789 A CN103364789 A CN 103364789A CN 2013101008557 A CN2013101008557 A CN 2013101008557A CN 201310100855 A CN201310100855 A CN 201310100855A CN 103364789 A CN103364789 A CN 103364789A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 230000003287 optical effect Effects 0.000 claims description 192
- 230000005855 radiation Effects 0.000 claims description 21
- 239000011159 matrix material Substances 0.000 claims description 20
- 238000007598 dipping method Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims 1
- 238000011156 evaluation Methods 0.000 abstract 2
- 230000001678 irradiating effect Effects 0.000 abstract 2
- 230000006870 function Effects 0.000 description 9
- 230000007704 transition Effects 0.000 description 7
- 238000012544 monitoring process Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 230000003213 activating effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/342—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells the sensed object being the obturating part
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- 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
-
- 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
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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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
- G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Physics & Mathematics (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a method and a sensor system used for detecting a target of vehicle and/ or determining space between the target and the vehicle. The method and system involve irradiating a light at a predetermined viewing angle from a light transmitter to target. The light reflected by object is received by a light receiver (6) at a predetermined angle of incidence for detection. The distance (h) between vehicle and the target is detected in response to the irradiating angle, angle of incidence, and a distance between the light transmitter and the light receiver; and/or according to light evaluation detected by the light receiver, the target is detected and/or the space between the target and the vehicle is determined, and the evaluation is carried out according to the measured result of a capacitive sensor; and/or the light receiver is connected in a detection operation mode to detect the target, and when the light detected by the light receiver comprises the light emitted by the light transmitter and reflected by the target, the target is detected; the light receiver is connected in a space measurement operation mode to determine the space, then the space is determined by information, and the information is about how the light is detected by the light receiver.
Description
Technical field
The present invention relates to a kind of for detection of object and/or for determining object and transport facility especially method and the sensing system of the spacing between the motor vehicle.
Background technology
EP 2 314 427 A2 have described in the monitoring chamber the motion detection of object.At this, optical transmitting set is with burst operative mode work or work continuously, wherein, carries out range observation by pulse measuring method.The optical transmitting set that is used for range observation before in motion detection, not using.The layout of (for example 8*8) photodiode is disclosed as optical receiver.
DE 10 2,007 050 094 A1 have described a kind of blocking device for automobile.Optical sensor detects the object near motor vehicle.In the situation that have the locking right, touch capacitive proximity sensor and can cause lock.
DE 10 2,009 023 594 A1 disclose a kind of method for automatic operation motor vehicle blocking element.At this, only when capacitance type sensor and optical sensor all detect at least a portion motion of predetermined movement characteristic, operation locking element automatically.
DE 10 2,004 021 505 B3 described a kind of on the operating motor vehicle or within electric device or the equipment of electromechanical assembly, described equipment is by working sensor, and described sensor responds and is condenser type or optics work coming close to or in contact with.
Summary of the invention
Technical matters to be solved by this invention is, detects near the spacing between the object of transport facility especially motor vehicle and/or definite transport facility especially motor vehicle and this object.At this, the quality that object detection and/or spacing are determined should be higher than prior art, and not energization consumption.
This technical matters passes through to be used for determining especially the first method of the spacing between the motor vehicle of object and transport facility by the present invention, for detection of object and/or for determining especially the second method of the spacing between the motor vehicle of object and transport facility, for detection of object and/or for determining the especially third method of the spacing between the motor vehicle of object and transport facility, be used for determining the especially first sensor system of the spacing between the motor vehicle of object and transport facility, for detection of object and/or be used for to determine object and the second sensing system of the transport facility especially spacing between the motor vehicle and for detection of object and/or be used for determining object and transport facility especially the 3rd sensing system and the especially motor vehicle solution of a kind of transport facility of the spacing between the motor vehicle.
Within the scope of the invention, provide a kind of for definite object and transport facility especially the first method of the spacing between the motor vehicle.At this, launch bright dipping with default radiation angle from transport facility especially motor vehicle by one or more optical transmitting sets.When the close transport facility of object especially motor vehicle, the light that is penetrated by optical transmitting set is reflected by object, and is detected with default incident angle by one or more optical receivers.Determine the especially spacing between motor vehicle and the object of transport facility according to the distance of radiation between angle, incident angle and optical transmitting set and the optical receiver.
When light penetrates with default radiation angle, reflected by object and when being detected with default incident angle by optical receiver, optical transmitting set, light form triangle at position and the optical receiver that object reflects.Described leg-of-mutton angle is known, because light can be calculated according to other two angles (namely radiating angle and incident angle) in the 3rd angle of the position that object reflects.Because the distance between optical transmitting set and the optical receiver is known equally, three sides of a triangle also can be determined.Therefore, also can calculate the height on that limit of leg-of-mutton connection optical transmitting set and optical receiver.Therefore because described height is equivalent to the spacing between motor vehicle and the object, can determine spacing between motor vehicle and the object according to the distance between radiation angle, incident angle and optical transmitting set and the optical receiver.
Have higher measuring accuracy according to the first method for determining spacing of the present invention with being compared by the known impulsive measurement method of prior art, and can not improve energy consumption at this.
According to a kind of preferred implementing form of the present invention, use a plurality of optical transmitting sets and a plurality of optical receiver.At this, each optical transmitting set is with luminous for the distinctive radiation of each optical transmitting set angle respectively, and this is also referred to as directional lighting.According to similar mode, each optical receiver is to accept light for the distinctive incident angle of each optical receiver respectively.If one of optical receiver receives the light of one of optical transmitting set, then described light must be reflected by object.For example based on for the distinctive optical modulation of each optical transmitting set, optical receiver can identify that its receives only from which optical transmitting set sends.According to luminous optical transmitting set and the optical receiver of reception, can know the distance between the optical receiver of radiation angle (the peculiar radiation angle that is equivalent to luminous optical transmitting set) and incident angle (the peculiar incident angle of the optical receiver that is equivalent to receive) and luminous optical transmitting set and reception.As mentioned above, then can determine spacing between motor vehicle and the object.
Within the scope of the invention, also provide a kind of for detection of object and/or for determining especially the second method of the spacing between the motor vehicle of object and transport facility.At this, send light by one or more optical transmitting sets from transport facility especially motor vehicle.When the close transport facility of the described photophase ground quilt especially object reflex time of motor vehicle, described light is detected by one or more optical receivers.Additionally detect the measurement result that especially is positioned near the capacitance type sensor of optical receiver (and optical transmitting set).According to the spacing between the assessment detected object of the light that detected by at least one optical receiver and/or definite transport facility especially motor vehicle and the object.At this, carry out described assessment according to the measurement result of capacitance type sensor.
By according to the second method of the present invention, some environmental impact factor of test using capacitance sensor can for example be passed through, such as heavy showers or snowfall.Then can advantageously when the measurement result of assessment optical sensor, consider these environmental impact factors, described optical sensor is realized by the combination of at least one optical transmitting set and at least one optical receiver, improve thus the quality that object detection or spacing are determined, and need not to consume larger energy for this reason.
For this reason, especially according to the measurement result of the measurement result filter light receiver of capacitance type sensor.
The measurement result of optical receiver for example refers to the voltage of photodiode, and capacitance type sensor is for example measured because electric capacity (the especially electric capacity between motor vehicle casing and the ground) rainy or that snow and change, and provides this capacitance as measurement result.
When for example rainwater flow through (and therefore flowing through from optical sensor) from capacitance type sensor, the electric capacity of capacitance type sensor changed according to the amount of rainfall on the current capacitance type sensor.Because amount of rainfall also affects optical sensor in a similar manner, so can use to a certain extent the measurement result of capacitance type sensor to filter the measurement result of optical sensor, therefore in crossing the measurement result that filters, leach the impact (and similar impact of the water of snow or washing bay) of rainwater.This for example can realize thus, that is, the frequency of the capacitance fluctuations that capacitance type sensor is measured leaches from the measurement result of optical sensor.
Reduced in an advantageous manner thus because sleet or for example water in the washing bay and the wrong possibility of understanding the measurement result of optical sensor.Thus, for example in heavy showers, also object can be detected close.
Within the scope of the invention, also provide a kind of for detection of object and/or for determining the especially third method of the spacing between the motor vehicle of object and transport facility.In this third method, also by one or more optical transmitting set utilizing emitted lights, and by one or more optical receivers detection light.At this, optical receiver is detected object in detecting operational mode.When one of optical receiver detected by one of optical transmitting set emission and the light time that must be reflected by object, detect described object.For the spacing between definite transport facility especially motor vehicle or optical sensor and the object, at least one access distance measurement operational mode different from detecting operational mode in described at least one optical receiver.In other words, when third method is only worked by an optical receiver, the optical receiver access spacing is measured operational mode, and when third method is worked by a plurality of optical receivers, one or more optical receiver access spacings are measured operational mode.Determine the especially spacing between motor vehicle and the object of transport facility according to the information that one of optical transmitting set is launched and how the light that reflected by object detected by at least one optical receiver.
In order to determine spacing, described third method for example can be used according to the first method of the present invention.In order to determine spacing, for example only have some definite optical receivers with the distance measurement run-mode, and for detected object, all optical receivers are all to detect run-mode usually, and optical transmitting set especially produces stray illumination in described detection operational mode.Can compare in an advantageous manner thus the optical sensor reduction energy consumption that all photodiodes are all worked in order to detect spacing.
Also provide within the scope of the invention a kind of for definite object and transport facility especially the first sensor system of the spacing between the motor vehicle.At this, described sensing system comprises one or more optical transmitting sets, one or more optical receiver and apparatus for evaluating.Optical transmitting set is with default radiation angle utilizing emitted light, so that irradiation is near the object of optical sensor thus, and determines thus spacing with this object.Send and detected with default incident angle by one of optical receiver by the light that object reflects by at least one optical transmitting set.Apparatus for evaluating is designed for according to radiation angle, incident angle with the luminous corresponding light transmitter in radiation angle and the distance between the corresponding light receiver that receives described light with corresponding incident angle determines spacing between first sensor system (and so being especially motor vehicle of transport facility) and the object.
Can be with reference to the description according to the first method of the present invention about other form of implementation of first sensor system.
Within the scope of the invention, also provide a kind of for detection of object and/or for determining especially the second sensing system of the spacing between the motor vehicle of object and sensing system or transport facility.Described the second sensing system also comprises one or more optical transmitting sets, one or more optical receiver and apparatus for evaluating.Optical transmitting set emission bright dipping, described light are positioned near the object reflection the second sensing system immediately.Apparatus for evaluating is assessed the measurement result of at least one optical receiver, and described at least one optical receiver detects the light that is sent and reflected by object by at least one optical transmitting set.Apparatus for evaluating determines whether that according to described assessment having detected object and/or apparatus for evaluating determines spacing between object and the second sensing system.At this, with the measurement result of capacitance type sensor input apparatus for evaluating, therefore the assessment of the measurement result of at least one optical receiver is carried out according to the measurement result of capacitance type sensor.
Can be with reference to the description according to the second method of the present invention about other form of implementation of the second sensing system.
Within the scope of the invention, also described a kind of for detection of object and/or be used for to determine object and sensing system or transport facility the 3rd sensing system of the spacing between the motor vehicle especially.The 3rd sensing system comprises again one or more optical transmitting sets, one or more optical receiver and apparatus for evaluating.Optical transmitting set sends light, so that irradiation is positioned near the especially object of the certain distance motor vehicle of optical sensor or transport facility thus.The light that is reflected by object is detected by one or more optical receivers.The 3rd sensing system moves described one or more optical receivers with detected object in detecting operational mode.When only launched by one of optical transmitting set and the light time that therefore reflected by object that one of optical receiver detects, the 3rd sensor system senses is to object.And when the spacing of determining between the 3rd sensing system and the object, described sensing system is with at least one access distance measurement operational mode different from described detection operational mode in described at least one optical receiver.Apparatus for evaluating is determined the spacing between sensing system and the object according to (one of optical transmitting set launch and how to be detected by one or more optical receivers by the light that object reflects) information.
Can be with reference to the description according to third method of the present invention about other form of implementation of the 3rd sensing system.
All three kinds according to sensing system of the present invention in, described at least one optical receiver all can comprise a plurality of photodiodes, described photodiode is arranged as the form of matrix.In addition, at least one optical transmitting set of described three sensing systems can comprise a plurality of a plurality of optical transmitting sets that are arranged in right side and the left side of matrix.
At this, matrix is interpreted as the optical receiver arrangement form of embarking on journey and becoming row, so this matrix has the capable and m row of n, so each optical receiver can be set its position by line number of living in and columns.Matrix for example can comprise that therefore eight row, eight row have 64 photodiodes, wherein, and the common alinement of photodiode of every row/row.
According to a kind of preferred implementing form, in described distance measurement operational mode, only activate the photodiode among the mutually colleague (perhaps diagonal line) who is arranged in matrix.At this, the first half optical transmitting set is arranged in the first edge side of described matrix, and the second half optical transmitting set is arranged in the second edge side of described matrix.At this, the first edge and the second edge all perpendicular in order to measure spacing access spacing measure the row of the photodiode in the operational mode, and the first edge and the second edge are opposed.
Cover the optimal orientation of photodiode array according to the optical sensor camera lens, in the distance measurement operational mode, activate the photodiode that is arranged in delegation/row or a diagonal line.Also can save untapped photodiode at this, so may have the space in the matrix.
It is pointed out that the performance that also can comprise above-mentioned three kinds of different sensors systems according to sensing system of the present invention.At this, all exchanges that can expect are all feasible technically, therefore according to sensing system of the present invention can in conjunction with or have the performance of the first and second sensing systems, the performance of the first and the 3rd sensing system, the performance of the second and the 3rd sensing system or a performance of first, second, and third sensing system.
At last, provide within the scope of the invention especially motor vehicle of a kind of transport facility, it has according to sensing system of the present invention.
By the present invention, also has the compared with prior art hardware module of minimal current consumption by use, in motor vehicle stagnation of movement and the total current drain that has especially reduced according to sensing system of the present invention in service.By according to close to sensing system of the present invention's ground identification, can be with object classification, therefore hand or pin can be distinguished with other object (for example chest or bag), improve thus body language identification, so for example also stance can be read as the hope of opening the door.Especially by use capacitance type sensor can be obviously the surrounding environment of detecting sensor better.
By using optical sensor, also can get rid of some objects according to the motor pattern that detects, the motor vehicle that for example crosses from the side or the pedestrian who passes by from the motor vehicle next door.In other words, according to the present invention can distinguish whether have the people that wants to use motor vehicle near motor vehicle or whether have object for other reasons (especially by accident) near motor vehicle.Only the people who wants to use motor vehicle being arranged during near motor vehicle, just advantageously switch to the distance measurement operational mode.
The present invention is particularly useful for operating motor vehicle (for example car door, renovate) blocking element.Certainly the present invention is not limited to this preferred application, because the present invention also can use on ship, aircraft and rail vehicle transportation instrument.In addition, the present invention also can consider to use the field outside the telecontrol equipment field, for example is used for handling the building door.
Description of drawings
Further set forth the present invention referring to the accompanying drawing basis according to the preferred embodiment of the present invention.In the accompanying drawings:
Fig. 1 illustrates the sensing system that has optical sensor and capacitance type sensor according to of the present invention;
Fig. 2 schematically shows the difference in functionality piece according to optical sensor of the present invention;
Fig. 3 illustrates the optical transmitting set that has different radiation angle according to of the present invention;
Fig. 4 a illustrates the optical receiver that has different incidence angles according to of the present invention;
Fig. 4 b illustrates according to 64 photodiodes that are arranged as matrix form of the present invention;
Fig. 5 schematically shows how angle, incident angle and distance are determined and the spacing of object according to radiating according to the present invention;
Fig. 6 illustrates the state transition graph according to sensing system of the present invention;
Fig. 7 illustrates according to motor vehicle of the present invention, and it has according to sensing system of the present invention.
Embodiment
Fig. 1 is schematically illustrated observe from the top according to sensing system 20 of the present invention, it comprises optical sensor 2 and a plurality of capacitance type sensor 1 that arranges around optical sensor 2 groupings in central authorities.Described capacitance type sensor has respectively directed integrated capacitive surface (having respectively Reference numeral 1).Each capacitance type sensor is measured the electric capacity between each surface 1 and the runway.Optical sensor 2 comprises matrix 5, and described matrix 5 is comprised of 64 photodiodes, this will after further set forth by Fig. 4 b.The right side of optical sensor 2 and left side (referring to Fig. 1) have respectively three optical transmitting sets (light emitting diode, for example infrarede emitting diode), and their Reference numeral is A-C or D-F.Optical sensor 2, optical transmitting set A-F and capacitance type sensor 1 are arranged in sensor housing 12 and are upwards hidden by glass 23.In order to be connected with apparatus for evaluating, be provided with connector 22.As seen optical sensor 2 sees through glass 23, and capacitive surface 1 can not be seen through glass 23.The length of sensing system (in Fig. 1 along left and right directions) for example is 5 to 12cm, and width for example is 1.5 to 4cm.
Figure 2 illustrates the optical sensor working method of (also comprising optical transmitting set at this).Optical transmitting set or transmitter unit 17 emission bright dippings, described light is modulated in transmission path 18 and is shone in the environment 11 by the optical frames group.When having object O in corresponding position in the light of emission, the light of emission is by this object O reflection, again by optical frames group 21 and arrive the receiving element 16 of sensor units 14 via RX path 19.The measurement result of receiving element 16 (for example photodiode array) is assessed by the logical circuit 15 of sensor unit 14.At this, transmitter unit 17, logical circuit 15 and be connected with interface 13 conductions of motor vehicle electrical network.
Especially can the performance of employed photodiode 6 freely be set by using suitable logical circuit 15.
Schematically illustrate in Fig. 3, optical transmitting set A-F is luminous to determine spacing with which kind of form.Can find out, each optical transmitting set A-F is to send light beam 3 for the fixing default radiation angle α-γ of each optical transmitting set A-F.
At this, the zone in condenser type surveyed area 25 (being the surveyed area of capacitance type sensor 1) the farther scope of coverage distance sensing system is compared in optical detection zone 24 (being the surveyed area of optical sensor), and the condenser type surveyed area only detects the zone in the distance sensor system close range.
If radiation angle α-γ for example is not more than 3 °, then can determine relatively accurately spacing.And if radiate angle α-γ greater than 10 °, the then accuracy of distance measurement reduction, but the increase of the size of surveyed area.In other words, by selective emission angle α-γ, the accuracy of can spacing measuring and the size of surveyed area.
The surveyed area 4 of eight photodiodes 6 (referring to Fig. 4 b) has been shown in Fig. 4 a.Can find out, each photodiode only detects the light in a certain space angle scope, and each photodiode has fixing default angular range, and photodiode detects light in this angular range.
In Fig. 4 b, show in detail already mentioned matrix 5.Can find out, photodiode 6 is arranged as eight row, 26 8 row 27.At this, surveyed area 4 is in the identical row at those photodiodes shown in Fig. 4 a, and described row is horizontal-extending in Fig. 4 b, the delegation in the middle of preferably being positioned at (for example the 4th or fifth line).
In Fig. 5, show in detail the spacing h between how to confirm sensing system and the object O.
Optical transmitting set A or B are with fixing default radiation angle α or β utilizing emitted light.Described light by object to determine angle [alpha] ' or β ' reflection and arrive the surveyed area 4 of definite photodiode 6.Character (modulation format of for example determining) according to light is known, and photodiode 6 has detected light from which optical transmitting set A or B.Thus known radiation angle and incident angle.Because the distance of each optical transmitting set A or B and each photodiode that moves in the distance measurement operational mode 6 also is known, known two the angle α of triangle that therefore consisted of by a P1 (corresponding optical transmitting set A or B), P2 (relevant position of the folded light beam of object O) and P3 (photodiode 6 of detection of reflected light) or the length of β and α ' ' or β ' ' and limit s ' or s ' '.Because three angle sums are 180 ° in triangle, so can determine unknown the 3rd angle α ' or β '.Can determine equally in addition the length of two limit a or b and a ' or b ' by sine.Can determine spacing h with object O by h=a*sin α or h=b*sin β at last.
By correspondingly selective emission angle and incident angle, can with region limits that need to be by the sensing system monitoring maximum must distance (for example 1m) in.Because the surveyed area of sensing system mainly is subject to employed optical frames group 21 (referring to Fig. 2) impact, so can be by changing optical frames group 21 advantageously restriction or expansion surveyed area.Therefore, be designed to according to sensing system 20 of the present invention, make it possible to change simply optical frames group 21.
Figure 6 illustrates according to state transition graph of the present invention.
Below for the slip car door of motor vehicle state transition graph according to sensing system of the present invention is described.
Be in the original state Z0 that closes by sensor according to sensing system of the present invention and enter front area monitoring state Z1 by connecting process E0, forwardly can only realize object detection functions by optical sensor in the area monitoring state.
If the slip car door is opened behind long-time the time-out internally, then there is the first event E1, sensing system enters the second operational mode BM2 (operational mode during the slip car door opening) by this first event.In the second operational mode BM2, obstacle recognition function and body language recognition function (by the lockable slip car door of this function) are effective.For this reason, some photodiodes are with the distance measurement run-mode, so that the spacing between definite object and the motor vehicle.
Making operating personnel recognize that the slip car door should open in the rest of longer time or the situation that corresponding body language (inactive body language) occurs, there is second event E2, state transition graph is got back to again state Z1 by this second event.
If the front area monitoring function detects a people and the slip car door is closed, then there is the 3rd event E3, carry out status transition from state Z1 to the first operational mode BM1 by the 3rd event.In this first operational mode, the slip car door is closed, and can open slip car door and breech-block motor-car or remove lock for motor vehicle by the body language recognition function.In order to carry out body language identification, some photodiodes are with the distance measurement run-mode.
In the situation that have a rest, motor vehicle removes lock or carries out corresponding body language (cutting out), has the 4th event E4, state transition graph is got back to state Z1 by the 4th event.
When for example activating slip car door opening function by corresponding body language (opening the slip car door), there is the 5th event E5, sensing system is transitioned into state BM2 by described the 5th event from state BM1.
When for example activating slip car door blocking function by corresponding body language (closing the slip car door), there is the 6th event E6, sensing system is got back to state BM1 by described the 6th event from state BM2.
By shown in state transition graph, increase for corresponding operational mode BM1, BM2 step by step or reduce especially best function according to (having identified) event of determining, in order in state Z1, consume the least possible energy.By only periodically (for example every 30ms) activate optical sensor, also forwardly reduce current drain among the area monitoring state Z1.
Fig. 7 is schematically illustrated according to motor vehicle 10 of the present invention, and it comprises according to sensing system 20 of the present invention.At this, this sensing system 20 comprises apparatus for evaluating 7 and capacitance type sensor 1 and optical sensor 2.
Claims (14)
1. one kind is used for determining the especially method of the spacing (h) between the motor vehicle (10) of object (O) and transport facility,
Wherein, by at least one optical transmitting set (A-F) with default radiation angle (α-γ) towards object (O) emission bright dipping,
Wherein, by described at least one optical transmitting set (A-F) launch and by the light of object (O) reflection by at least one optical receiver (6) with default incident angle (α ", β ") detects, and
Wherein, according to the radiation angle (α-γ), incident angle (and α ", the distance between β ") and described at least one optical transmitting set (A-F) and described at least one optical receiver (6) (s '; S ' ') determines the especially spacing (h) between motor vehicle (10) and the object (O) of transport facility.
2. by method claimed in claim 1, it is characterized in that,
Described at least one optical transmitting set comprises a plurality of optical transmitting sets (A-F),
By each optical transmitting set (A-F) with the radiation angle that corresponds respectively to each optical transmitting set (A-F) (α-γ) towards object (O) utilizing emitted light,
Described at least one optical receiver comprises a plurality of optical receivers (6),
Each optical receiver (6) with corresponding to the incident angle of each optical receiver (6) (α ", β ") detects light, and
According to detect by one of optical transmitting set (A-F) launch and by the incident angle of that optical receiver (6) of the light of object (O) reflection (α ", the radiation angle of β "), the optical transmitting set (A-F) that detected by described optical receiver (6) according to described that utilizing emitted light (α-γ) and according to the distance between described optical receiver (6) and the described optical transmitting set (A-F) (s '; S ") determines the especially spacing (h) between motor vehicle (10) and the object (O) of transport facility.
3. one kind for detection of object (O) and/or be used for to determine object (O) and the transport facility method of the spacing (h) between the motor vehicle (10) especially,
Wherein, by at least one optical transmitting set (A-F) towards object (O) utilizing emitted light,
Wherein, detect light by at least one optical receiver (6),
Wherein, the measurement result of Detection capacitance sensor (1),
Wherein, according to the assessment to the light that detected by described at least one optical receiver (6), detected object (O) and/or definite object (O) and transport facility be the spacing (h) between the motor vehicle (10) especially, and
Wherein, described assessment is carried out according to the measurement result of described capacitive sensor (1).
4. by method claimed in claim 3, it is characterized in that, when the light that is detected by described at least one optical receiver (6) is assessed, the measurement result of filtering described at least one optical receiver (6) according to the measurement result of described capacitance type sensor (1).
5. one kind for detection of object (O) and/or be used for to determine object (O) and the transport facility method of the spacing (h) between the motor vehicle (10) especially,
Wherein, by at least one optical transmitting set (A-F) towards object (O) utilizing emitted light,
Wherein, detect light by at least one optical receiver (6),
Wherein, described at least one optical receiver (6) access is detected operational mode with detected object (O),
Wherein, launch and by the light time of object (O) reflection, detect described object (O) when the light that is detected by described at least one optical receiver (6) comprises by described at least one optical transmitting set (A-F),
Wherein, for the spacing (h) between definite transport facility especially motor vehicle (10) and the object (O), the distance measurement operational mode that at least one access of described at least one optical receiver (6) is different from described detection operational mode, and
Wherein, determine the especially spacing (h) between motor vehicle (10) and the object (O) of transport facility according to information, described information is to launch and how to be detected by described at least one optical receiver (6) by the light of object (O) reflection about described at least one optical transmitting set (A-F).
6. by one of claim 3 to 5 described method, it is characterized in that,
Described at least one optical receiver comprises a plurality of photodiodes (6),
For detected object (O), activate all photodiodes (6), in order to determine whether according to the measurement result of these photodiodes that are activated (6) and to detect object (O), and
For the spacing (h) between definite transport facility especially motor vehicle (10) and the object (O), only activate a part of photodiode (6), in order to determine the especially spacing (h) between motor vehicle (10) and the object (O) of transport facility according to the measurement result of these photodiodes that are activated (6).
7. by one of claim 3 to 6 described method, it is characterized in that, in order to determine described spacing (h), use according to claim 1 or 2 described methods.
8. one kind is used for determining the especially sensing system of the spacing (h) between the motor vehicle (10) of object (O) and transport facility,
Wherein, described sensing system (20) comprises at least one optical transmitting set (A-F), at least one optical receiver (6) and apparatus for evaluating (7),
Wherein, described at least one optical transmitting set (A-F) be designed for default radiation angle (α-γ) towards object (O) utilizing emitted light,
Wherein, described at least one optical receiver (6) be designed for default incident angle (α ", β ") detects by the light of object (O) reflection, and
Wherein, described apparatus for evaluating (7) be designed for according to the radiation angle (α-γ), incident angle (and α ", the distance between β ") and described at least one optical transmitting set (A-F) and described at least one optical receiver (6) (s '; S ") determines the spacing (h) between sensing system (20) and the object (O).
One kind for detection of object (O) and/or be used to transport facility especially motor vehicle (10) determine the sensing system of the spacing (h) of itself and object (O),
Wherein, described sensing system (20) comprises at least one optical transmitting set (A-F), at least one optical receiver (6), capacitance type sensor (1) and apparatus for evaluating (7), wherein, described at least one optical transmitting set (A-F) is designed for towards object (O) utilizing emitted light, and wherein, described apparatus for evaluating (7) is designed for light and the measurement result detected object (O) of capacitive sensor (1) and/or the spacing (h) between definite sensing system (20) and the object (O) that detects according to by described at least one optical receiver (6).
10. one kind for detection of object (O) and/or be used for to determine object (O) and the transport facility sensing system of the spacing (h) between the motor vehicle (10) especially,
Wherein, described sensing system (20) comprises at least one optical transmitting set (A-F), at least one optical receiver (6) and apparatus for evaluating (7),
Wherein, described at least one optical transmitting set (A-F) is designed for towards object (O) utilizing emitted light,
Wherein, described at least one optical receiver (6) is designed for detection light,
Wherein, described sensing system (20) is designed for and moves described at least one optical receiver (6) with detected object (O) in detecting operational mode,
Wherein, described sensing system (20) is designed for when the light that is detected by described at least one optical receiver (6) comprise by described at least one optical transmitting set (A-F) to be launched and by the light time of object (O) reflection, detect described object (O)
Wherein, described sensing system (20) is designed at least one in described at least one optical receiver of operation (6) in the distance measurement operational mode different from described detection operational mode, in order to determine the spacing (h) between sensing system (20) and the object (O), and
Wherein, described sensing system (20) is designed for by described apparatus for evaluating (7) determines that according to information spacing (h) between sensing system (20) and the object (O), described information are to launch and how to be detected by described at least one optical receiver (6) by the light of object (O) reflection about described at least one optical transmitting set (A-F).
11. by one of claim 8 to 10 described sensing system, it is characterized in that,
Described at least one optical receiver comprises a plurality of photodiodes (6) that are arranged as matrix (5) form, and
Described at least one optical transmitting set comprises a plurality of optical transmitting sets (A-F) that are arranged in described matrix (5) side.
12. by the described sensing system of claim 11, it is characterized in that,
Described photodiode (6) is embarked on journey (26) and is become row to be arranged in the described matrix (5) (27),
In described distance measurement operational mode, only activate the photodiode (6) among the predetermined mutually colleague who is arranged in matrix (5),
The first half optical transmitting set (A-C) is arranged in the first edge side of described matrix (5), and described the first edge-perpendicular is in described row, and
The second half optical transmitting set (D-F) is arranged in the second edge side of described matrix (5), and described the second edge-perpendicular is in described row and opposed with the first edge of matrix (5).
13. by one of claim 8 to 12 described sensing system, it is characterized in that, described sensing system (20) is designed for to be implemented according to the described method of one of claim 1 to 7.
14. a transport facility is motor vehicle especially, has according to the described sensing system of one of claim 8 to 13 (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710853865.6A CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
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| Application Number | Priority Date | Filing Date | Title |
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| DE102012006347.4 | 2012-03-28 | ||
| DE201210006347 DE102012006347A1 (en) | 2012-03-28 | 2012-03-28 | Method for determining distance between object e.g. person and motor vehicle e.g. car, involves receiving light reflected by object using light receiver at predetermined angle of incidence |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710853865.6A Division CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
| CN201510059106.3A Division CN104656096A (en) | 2012-03-28 | 2013-03-27 | Method for detecting objects and/or determining distance between object and transport facility |
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| CN103364789A true CN103364789A (en) | 2013-10-23 |
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| CN201510059106.3A Pending CN104656096A (en) | 2012-03-28 | 2013-03-27 | Method for detecting objects and/or determining distance between object and transport facility |
| CN2013101008557A Pending CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
| CN201710853865.6A Pending CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
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| CN110895335A (en) * | 2018-09-12 | 2020-03-20 | 西克股份公司 | Sensor and autonomous vehicle |
| CN110924121A (en) * | 2019-11-22 | 2020-03-27 | 江苏开创检测技术有限公司 | Detection device of clothing needle detector |
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| DE102015101268A1 (en) * | 2015-01-29 | 2016-08-04 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system and method for operating such and motor vehicle with it |
| DE102015101266A1 (en) * | 2015-01-29 | 2016-08-04 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for motor vehicles, method for operating such, uses for it and motor vehicle with it |
| DE102016103028A1 (en) * | 2016-02-22 | 2017-08-24 | Sick Ag | Device for monitoring a surveillance area |
| CN115877396A (en) * | 2021-09-28 | 2023-03-31 | 北京一径科技有限公司 | Laser radar ranging method and laser radar system |
| DE102022123497A1 (en) | 2022-09-14 | 2024-03-14 | Bayerische Motoren Werke Aktiengesellschaft | RADAR SENSOR SYSTEM AND METHOD FOR OPERATING SAME |
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Also Published As
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| CN104656096A (en) | 2015-05-27 |
| CN107656285A (en) | 2018-02-02 |
| DE102012006347A1 (en) | 2013-10-02 |
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