CN107656285A - Detection object and/or the method and sensing system for determining spacing - Google Patents
Detection object and/or the method and sensing system for determining spacing Download PDFInfo
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- CN107656285A CN107656285A CN201710853865.6A CN201710853865A CN107656285A CN 107656285 A CN107656285 A CN 107656285A CN 201710853865 A CN201710853865 A CN 201710853865A CN 107656285 A CN107656285 A CN 107656285A
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- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims abstract description 167
- 238000005259 measurement Methods 0.000 claims abstract description 44
- 230000005855 radiation Effects 0.000 claims abstract description 24
- 238000000605 extraction Methods 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 20
- 230000004913 activation Effects 0.000 claims description 5
- 230000005622 photoelectricity Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 9
- 230000007704 transition Effects 0.000 description 7
- 230000000903 blocking effect Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 3
- 238000005406 washing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- 238000005286 illumination Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
-
- 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
-
- 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)
- Engineering & Computer Science (AREA)
- 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 present invention relates to a kind of method and sensing system for being used for for motor vehicle detecting object and/or determining the spacing between object and motor vehicle, light extraction is launched towards object with default radiation angle by least one optical transmitting set, light is detected by object reflection and by least one optical receiver with default incidence angle.The spacing determines according to radiation angle, incidence angle and the distance between optical transmitting set and optical receiver；And/or the assessment according to the light to being detected by optical receiver, the spacing between detection object and/or determination object and motor vehicle, assess and carried out according to the measurement result of capacitive sensor；And/or optical receiver is accessed into detection operational mode with detection object, when the light detected by optical receiver include launched by optical transmitting set and by object reflection light when, detect the object, optical receiver is accessed into distance measurement operational mode to determine spacing, spacing is determined according to information, described information is how to be detected on light by optical receiver.
Description
The present patent application be Application No. 201310100855.7, the applying date be on 03 27th, 2013 entitled
The divisional application of the patent application of " detection object and/or the method and sensing system for determining spacing ".
Technical field
The present invention relates to one kind be used for detection object and/or for determine object and transport facility especially motor vehicle it
Between spacing method and sensing system.
Background technology
The A2 of EP 2 314 427 are described in room is monitored to the motion detection of object.Here, optical transmitting set is transported with pulse
Row mode works or continuously worked, wherein, carry out range measurement by pulse measuring method.In motion detection without using
It is used for the optical transmitting set of range measurement before.The arrangement of (such as 8*8) photodiode is disclosed as optical receiver.
The A1 of DE 10 2,007 050 094 describe a kind of blocking device for automobile.Optical sensor detection is close
The object of motor vehicle.In the case of with locking right, touching capacitive proximity sensor can cause to lock.
The A1 of DE 10 2,009 023 594 disclose a kind of method for being automatically brought into operation motor vehicle blocking element.Here,
Only when capacitance type sensor and optical sensor detect at least a portion motion of predetermined movement characteristic, just automatically grasp
Make blocking element.
The B3 of DE 10 2,004 021 505 describe a kind of electric device or machine for operating on or within motor vehicle
The equipment of electric installation, by working sensor, the sensor responds to coming close to or in contact with and is electric capacity the equipment
What formula or optics worked.
The content of the invention
The technical problems to be solved by the invention are, detect close to transport facility especially motor vehicle object and/
Or determine spacing of the transport facility especially between motor vehicle and the object.Here, the matter that object detection and/or spacing determine
Amount should be higher than prior art, and energization does not consume.
The technical problem is passed through for determining the spacing between object and transport facility especially motor vehicle by the present invention
First method, for detection object and/or for determining the spacing between object and transport facility especially motor vehicle
Second method, for detection object and/or for determining of the spacing between object and transport facility especially motor vehicle
Three methods, the first sensor system for determining the spacing between object and transport facility especially motor vehicle, for examining
Survey object and/or second sensor system and use for determining the spacing between object and transport facility especially motor vehicle
In detection object and/or 3rd sensor system for determining the spacing between object and transport facility especially motor vehicle
And a kind of transport facility especially motor vehicle solves.
Within the scope of the invention, there is provided a kind of to be used between determining between object and transport facility especially motor vehicle
Away from first method.Here, by one or more optical transmitting sets with default radiation angle from transport facility especially motor vehicle
Place's transmitting light extraction.When object is close to transport facility especially motor vehicle, by the light of optical transmitting set injection by object reflection, and
And detected by one or more optical receivers with default incidence angle.According to radiation angle, incidence angle and optical transmitting set and light-receiving
The distance between device determines spacing of the transport facility especially between motor vehicle and object.
When light is projected with default radiation angle, with default incidence angle is detected by object reflection and by optical receiver, light
The position and optical receiver that transmitter, light reflect on object form triangle.The angle of the triangle is known, because light
3rd angle of the opening position reflected on object can calculate according to another two angle (i.e. radiation angle and incidence angle).Because
The distance between optical transmitting set and optical receiver are equally known, so three sides of a triangle can also determine.Therefore,
The connection optical transmitting set of triangle and the height on that side of optical receiver can also be calculated.Because it is described it is high equivalent to motor vehicle with
Spacing between object, therefore machine can be determined according to radiation angle, incidence angle and the distance between optical transmitting set and optical receiver
Spacing between motor-car and object.
It is used to determine that the first method of spacing to have compared with by impulsive mensuration known in the art according to the present invention
There is higher measuring accuracy, and energy expenditure will not be improved herein.
According to a kind of preferred implementing form of the present invention, multiple optical transmitting sets and multiple optical receivers are used.It is here, each
For optical transmitting set to be lighted respectively for the distinctive radiation angle of each optical transmitting set, this is also referred to as directional lighting.According to similar side
Formula, each optical receiver for the distinctive incidence angle of each optical receiver to receive light respectively.If one of optical receiver receives
To the light of one of optical transmitting set, then the light must be returned by object reflection.Such as based on special for each optical transmitting set
Some light modulations, optical receiver can recognize that what it received just sends from which optical transmitting set.Sent out according to luminous light
Emitter and the optical receiver received, it is known that radiation angle (equivalent to the peculiar radiation angle of luminous optical transmitting set) and incidence angle
Between (equivalent to the peculiar incidence angle of the optical receiver of reception) and luminous optical transmitting set and the optical receiver of reception away from
From.As described above, the spacing between motor vehicle and object then can be determined.
Within the scope of the invention, also provide a kind of for detection object and/or for determining object and communications and transportation work
The second method of spacing between tool especially motor vehicle.Here, by one or more optical transmitting sets from transport facility especially
Motor vehicle sends light.When the photophase by the object reflection close to transport facility especially motor vehicle, the light by
One or more optical receiver detections.Additionally detect the capacitive sensing nearby particular on optical receiver (and optical transmitting set)
The measurement result of device.According to the assessment detection object of the light to being detected by least one optical receiver and/or determine communications and transportation
Spacing of the instrument especially between motor vehicle and object.Here, the assessment is carried out according to the measurement result of capacitance type sensor.
By the second method according to the present invention, can for example by some environment of test using capacitance sensor influence because
Element, such as heavy showers or snowfall.Then advantageously it can consider that these environment influence when assessing the measurement result of optical sensor
Factor, the optical sensor is realized by the combination of at least one optical transmitting set and at least one optical receiver, is thus improved
The quality that object detection or spacing determine, without consuming bigger energy for this.
Therefore, filter the measurement result of optical receiver in particular according to the measurement result of capacitance type sensor.
The measurement result of optical receiver for example refers to the voltage of photodiode, and capacitance type sensor measurement for example due to
The electric capacity (electric capacity especially between motor vehicle casing and ground) for raining or snowing and changing, and capacitance work is provided
For measurement result.
When such as rainwater flows through (and therefore being flowed through from optical sensor) from capacitance type sensor, condenser type passes
The electric capacity of sensor changes according to the amount of rainfall on capacitance present formula sensor.Passed because amount of rainfall also influences optics in a similar manner
Sensor, so the measurement result of capacitance type sensor can be used to a certain extent with the measurement knot of filtering optical sensor
Fruit, therefore it has been filtered out in filtered measurement result influence (and the similar shadow of snow or the water of washing bay of rainwater
Ring).This can for example be achieved in, i.e. the survey by the frequency of the capacitance fluctuations of capacitance type sensor measurement from optical sensor
Filtered out in amount result.
Thus reduce in an advantageous manner due to the water in sleet or such as washing bay and mistake deciphering optical sensor
Measurement result possibility.Thus, it is close such as in heavy showers object can also to be detected.
Within the scope of the invention, also provide a kind of for detection object and/or for determining object and communications and transportation work
The third method of spacing between tool especially motor vehicle.In the third method, also launch light by one or more optical transmitting sets,
And by one or more optical receiver detection lights.Here, optical receiver detection object in operational mode is detected.Work as light-receiving
One of device detect by one of optical transmitting set transmitting and must be by the light of object reflection when, detect the object.In order to true
Spacing of the transport facility especially between motor vehicle or optical sensor and object is determined, at least one optical receiver
At least one access distance measurement operational mode different from detection operational mode.In other words, when third method only passes through one
During individual optical receiver work, optical receiver is accessed into distance measurement operational mode, and when third method passes through multiple light-receivings
When device works, one or more optical receivers are accessed into distance measurement operational mode.Launched according to one of optical transmitting set and
By the light of object reflection how the information detected by least one optical receiver determine transport facility especially motor vehicle with
Spacing between object.
In order to determine spacing, the third method can for example use the first method according to the present invention.Between determining
Away from, such as there was only some optical receivers determined with distance measurement run-mode, and for detection object, it is generally all
Optical receiver is to detect run-mode, and optical transmitting set especially produces stray illumination in the detection operational mode.By
This can reduce energy compared to the optical sensor that all photodiodes work in order to detect spacing in an advantageous manner
Consumption.
Also provide within the scope of the invention and a kind of be used to determine between object and transport facility especially motor vehicle
The first sensor system of spacing.Here, the sensing system includes one or more optical transmitting sets, one or more light connect
Receive device and apparatus for evaluating.Optical transmitting set launches light with default radiation angle, thus to irradiate the object close to optical sensor,
And thereby determine that the spacing with the object.Sent by least one optical transmitting set and by the light of object reflection by optical receiver
One of with default incidence angle detect.Apparatus for evaluating is corresponding designed for being lighted according to radiation angle, incidence angle and with radiation angle
The distance between the corresponding optical receiver of optical transmitting set to receiving the light with corresponding incidence angle determines first sensor system (simultaneously
And be therefore transport facility especially motor vehicle) spacing between object.
Other forms of implementation on first sensor system may be referred to the description to the first method according to the present invention.
Within the scope of the invention, also provide a kind of for detection object and/or for determining object and sensing system
Or the second sensor system of the spacing between transport facility especially motor vehicle.The second sensor system also includes one
Individual or multiple optical transmitting sets, one or more optical receivers and apparatus for evaluating.Optical transmitting set launches light extraction, and the light is immediately by position
In the object reflection of second sensor arrangement adjacent.Apparatus for evaluating assesses the measurement result of at least one optical receiver, it is described extremely
Few optical receiver detection is sent by least one optical transmitting set and by the light of object reflection.Apparatus for evaluating is according to institute's commentary
Estimate and determine whether to detect object and/or apparatus for evaluating determines spacing between object and second sensor system.Here, will
The measurement result input apparatus for evaluating of capacitance type sensor, thus the assessment to the measurement result of at least one optical receiver according to
The measurement result of capacitance type sensor is carried out.
Other forms of implementation on second sensor system may be referred to the description to the second method according to the present invention.
Within the scope of the invention, also illustrate a kind of for detection object and/or for determining object and sensor system
The 3rd sensor system of spacing between system or transport facility especially motor vehicle.3rd sensor system includes one again
Or multiple optical transmitting sets, one or more optical receivers and apparatus for evaluating.Optical transmitting set sends light, thus to irradiate positioned at light
Learn sensor or transport facility especially the motor vehicle object in certain distance nearby.By the light of object reflection by one or more
Individual optical receiver detection.3rd sensor system runs one or more of optical receivers to detect in operational mode is detected
Object.As detect just being launched by one of optical transmitting set of one of optical receiver and returned by object reflection
Light when, 3rd sensor system detectio to object.And it is determined that during spacing between 3rd sensor system and object, it is described
Sensing system is by least one access at least one optical receiver and the different spacing of the detection operational mode
Measure operational mode.Apparatus for evaluating is according to (one of optical transmitting set is launched and by the light of object reflection how by one or more
What individual optical receiver detected) information determines spacing between sensing system and object.
Other forms of implementation on 3rd sensor system may be referred to the description to the third method according to the present invention.
At all three according in sensor of the invention system, at least one optical receiver may each comprise multiple
Photodiode, the photodiode are arranged as the form of matrix.In addition, at least one light of three sensing systems
Transmitter can include multiple optical transmitting sets in multiple right sides for being arranged in matrix and left side.
Here, matrix is interpreted as embarking on journey and optical receiver arrangement form in column, therefore the matrix has n rows and m row, institute
Its position can be set by residing line number and columns with each optical receiver.Therefore matrix can for example arrange including eight rows eight
With 64 photodiodes, wherein, the usual alinement of photodiode per row/column.
According to a kind of preferred implementing form, in the distance measurement operational mode, only activation is arranged in the identical of matrix
Photodiode in row (or diagonal).Here, the first half optical transmitting set is arranged in by the first edge of the matrix
Side, and the second half optical transmitting set is arranged in the second edge side of the matrix.Here, first edge and second edge are hung down
Directly in the row of the photodiode accessed to measure spacing in distance measurement operational mode, and first edge and the second side
Edge is opposed.
The optimal orientation of photodiode array is covered according to optical sensor camera lens, is swashed in distance measurement operational mode
Photodiode living in a row/column or a diagonal.Untapped photodiode can also be saved herein, because
Space is there may be in this matrix.
It is pointed out that above-mentioned three kinds of different sensors systems can also be included according to sensor of the invention system
Performance.Here, it is all it is contemplated that exchange it is technically feasible, therefore can combine according to sensor of the invention system or
Person have the first and second sensing systems performance, first and 3rd sensor system performance, second and 3rd sensor
The performance of the performance of system or first, second, and third sensing system.
Finally, a kind of transport facility especially motor vehicle is provided within the scope of the invention, and it has according to the present invention
Sensing system.
By the present invention, also by the hardware module with minimal current consumption compared with prior art is used, motor-driven
The total current drain according to sensor of the invention system is especially reduced in car stagnation of movement and operation.By knowing according to of the invention
It is other that the close of sensing system can be classified subjects into, therefore can be by hand or pin and other objects (such as chest or bag)
Distinguish, hence improve body language identification, therefore stance can also be for example read as to the hope opened the door.Particularly by making
With capacitance type sensor can obviously better detection sensor surrounding environment.
By using optical sensor, some objects can also be excluded according to the motor pattern detected, such as from the side
The motor vehicle crossed or the pedestrian to be passed by beside motor vehicle.In other words, it can distinguish whether to have according to the present invention and think
Close to motor vehicle or whether there is object for other reasons (especially by accident) close to motor vehicle using the people of motor vehicle.Only
When there is the people for wanting to use motor vehicle close to motor vehicle, distance measurement operational mode is just advantageously switched to.
Present invention is particularly suitable for (such as car door, renovate) blocking element of operation motor vehicle.Certain present invention is not
The preferable application field is confined to, because the present invention can also be used on ship, aircraft and rail vehicle transportation instrument.This
Outside, the present invention is it is also contemplated that using the field outside telecontrol equipment field, such as manipulating building door.
Brief description of the drawings
The present invention is expanded on further according to according to the preferred embodiment of the present invention referring to the drawings.In the accompanying drawings：
Fig. 1 shows the sensing system with optical sensor and capacitance type sensor according to the present invention；
Fig. 2 schematically shows the difference in functionality block of the optical sensor according to the present invention；
Fig. 3 shows the optical transmitting set with different radiation angles according to the present invention；
Fig. 4 a show the optical receiver with different incidence angles according to the present invention；
Fig. 4 b show 64 photodiodes for being arranged as matrix form according to the present invention；
Fig. 5 schematically show how according to the present invention according to radiation angle, incidence angle and apart from determining and the spacing of object；
Fig. 6 shows the state transition graph according to sensor of the invention system；
Fig. 7 shows the motor vehicle according to the present invention, and it has according to sensor of the invention system.
Embodiment
Fig. 1 schematically shows viewed from above according to sensor of the invention system 20, and it includes optics in center
Sensor 2 and multiple capacitance type sensors 1 set around the packet of optical sensor 2.The capacitance type sensor has respectively
The integrated capacitive surface of orientation (respectively with reference 1).Each capacitance type sensor measure each surface 1 and runway it
Between electric capacity.Optical sensor 2 includes matrix 5, and the matrix 5 is made up of 64 photodiodes, and this will pass through figure afterwards
4b is expanded on further.The right side of optical sensor 2 and left side (referring to Fig. 1) have respectively three optical transmitting sets (light emitting diode,
Such as infrarede emitting diode), their reference is A-C or D-F.Optical sensor 2, optical transmitting set A-F and condenser type
Sensor 1 is located in sensor housing 12 and covered upwards by glass 23.In order to be connected with apparatus for evaluating, provided with connector
22.Optical sensor 2 is visible through glass 23, and capacitive surface 1 can not be seen through glass 23.Sensing system is (in Fig. 1
Length in left-right direction) is, for example, 5 to 12cm, and width is, for example, 1.5 to 4cm.
Figure 2 illustrates the working method of optical sensor (also including optical transmitting set herein).Optical transmitting set or transmitting
Unit 17 launches light extraction, and the light is modulated in transmission path 18 and is irradiated to by optics microscope group in environment 11.When sending out
In the light penetrated when corresponding opening position has object O, the light of transmitting is reflected by object O, again by optics microscope group 21 simultaneously
And the receiving unit 16 of sensor unit 14 is reached via RX path 19.Receiving unit 16 (such as photodiode array)
Measurement result is assessed by the logic circuit 15 of sensor unit 14.Here, transmitter unit 17, logic circuit 15 and with it is motor-driven
The interface 13 of car power network is conductively connected.
The performance of photodiode 6 used in being especially freely disposed by using appropriate logic circuit 15.
Schematically illustrate in figure 3, optical transmitting set A-F lights to determine spacing in what manner.As can be seen that each light
Transmitter A-F sends light beam 3 to fix default radiation angle α-γ for each optical transmitting set A-F.
Here, optical detection area 24 (i.e. the detection zone of optical sensor) is (i.e. electric compared to condenser type detection zone 25
The detection zone of capacity sensor 1) region in the farther scope of coverage distance sensing system, condenser type detection zone only detects
Region in distance sensor system close range.
If radiation angle α-γ for example no more than 3 °, can relatively accurately determine spacing.And if radiation angle α-γ
More than 10 °, then the accuracy of distance measurement, but the size increase of detection zone.In other words, by selective emission angle α-
γ, the degree of accuracy of distance measurement and the size of detection zone can be adjusted.
The detection zone 4 of eight photodiodes 6 (referring to Fig. 4 b) is shown in fig.4.As can be seen that each photoelectricity
Diode only detects the light in the range of a certain space angle, and each photodiode has fixed default angular range, photoelectricity
Diode detection light in the angular range.
Already mentioned matrix 5 is shown in detail in fig. 4b.As can be seen that photodiode 6 is arranged as eight rows 26 8
Row 27.Here, those photodiodes that detection zone 4 is shown in fig.4 are in identical row, the row is in fig. 4b
It is horizontal-extending, it is preferably located at a line (such as the 4th or fifth line) of centre.
It is shown in detail in Figure 5 and how determines spacing h between sensing system and object O.
Optical transmitting set A or B launches light with fixation default radiation angle α or β.The light by object with determine angle [alpha] ' or β '
Reflect and reach the detection zone 4 for determining photodiode 6.According to the property (such as modulation format of determination) of light, it is known that
Photodiode 6 detects light from which optical transmitting set A or B.Thus known radiation angle and incidence angle.Because each light transmitting
The distance of device A or B and each photodiode 6 run in distance measurement operational mode is also known, therefore by point P1
(corresponding optical transmitting set A or B), P2 (relevant positions of object O the reflected beams) and the P3 (photodiodes of detection reflected light
6) length of two angle α or β and α " or β " and side s' or s " known to the triangle formed.Because in the triangles three angles it
With for 180 °, it is possible to determine unknown the 3rd angle α ' or β '.Can equally be determined by sine another two side a or
B and a' or b' length.The spacing h with object O can be determined finally by h=a*sin α or h=b*sin β.
By correspondingly selective emission angle and incidence angle, will can need to be limited in by the region that sensing system monitors
In maximum necessary distance (such as 1m).Because the detection zone of sensing system is mainly by used optics microscope group 21 (ginseng
See Fig. 2) influence, it is possible to advantageously limit or expand detection zone by changing optics microscope group 21.Therefore, according to this hair
Bright sensing system 20 is designed as, enabling simply changes optics microscope group 21.
Figure 6 illustrates the state transition graph according to the present invention.
State transition graph of the car door description according to sensor of the invention system is slided below for motor vehicle.
The original state Z0 closed is according to sensor of the invention system by sensor by connecting process E0 to enter
Front area monitoring state Z1, object detection functions can only be realized by optical sensor in front area monitoring state.
If sliding car door to open from inside after long-time is suspended, in the presence of the first event E1, sensing system passes through
First event enters the second operational mode BM2 (sliding operational mode during car door opening).In the second operational mode BM2,
Obstacle recognition function and body language identification function are effective (by the lockable slip car door of the function).Therefore, some
Photodiode is with distance measurement run-mode, to determine the spacing between object and motor vehicle.
Make operating personnel recognize slide car door should open the longer time rest or corresponding body language it is (inactive
Body language) occur in the case of, second event E2 be present, state transition graph is returned to state Z1 by the second event.
It is to close that if front area monitoring function, which detects a people and slides car door, in the presence of the 3rd event
E3, carried out by the 3rd event from state Z1 to the first operational mode BM1 status transition.In first operational mode,
It is to close to slide car door, and can be opened by body language identification function and slide car door and locking motor vehicle or be
Motor vehicle goes to lock.In order to carry out body language identification, some photodiodes are with distance measurement run-mode.
In the case where rest, motor vehicle go to lock or carry out corresponding body language (closing), the 4th event E4, shape be present
State transition figure returns to state Z1 by the 4th event.
When for example (opening and sliding car door) activation slip car door opening function by corresponding body language, there is the 5th
Event E5, sensing system are transitioned into state BM2 by the 5th event from state BM1.
When for example (closing and sliding car door) activation slip car door blocking function by corresponding body language, there is the 6th
Event E6, sensing system return to state BM1 by the 6th event from state BM2.
It is corresponding operational mode step by step according to (identified) event of determination by shown state transition graph
BM1, BM2 increase or especially most preferably reduce function, so as to run out in state Z1 may be less energy.Pass through only periodicity
Ground (such as per 30ms) activation optical sensor, can also reduce current drain in front area monitoring state Z1.
Fig. 7 schematically shows the motor vehicle 10 according to the present invention, and it is included according to sensor of the invention system 20.
This, the sensing system 20 includes apparatus for evaluating 7 and capacitance type sensor 1 and optical sensor 2.
Claims (11)
1. one kind is used for detection object (O) and/or for determining transport facility especially motor vehicle (10) and its close pair
As the method for the spacing (h) between (O),
Wherein, light is launched towards object (O) by least one optical transmitting set (A-F),
Wherein, by least one optical receiver (6) detection light,
Wherein, measurement result of the capacitance type sensor (1) to detection environment is detected,
Wherein, handed over according to the assessment of the light to being detected by least one optical receiver (6), detection object (O) and/or determination
Logical means of transport especially motor vehicle (10) and the spacing (h) between its object (O), and
Wherein, described assess is carried out according to the measurement result of the capacitance type sensor (1).
2. the method as described in claim 1, it is characterised in that to the light by least one optical receiver (6) detection
When being assessed, the measurement of at least one optical receiver (6) is filtered according to the measurement result of the capacitance type sensor (1)
As a result.
3. the method as described in claim 1 or 2, it is characterised in that
At least one optical receiver includes multiple photodiodes (6),
For detection object (O), all photodiodes (6) are activated, so as to the photodiode (6) that is activated according to these
Measurement result determines whether to detect object (O), and
In order to determine the spacing (h) between transport facility especially motor vehicle (10) and object (O), a part of photoelectricity is only activated
Diode (6), so that the measurement result for the photodiode (6) being activated according to these determines that transport facility is especially motor-driven
Spacing (h) between car (10) and object (O).
4. the method as described in claim 1 or 2, it is characterised in that in order to determine the spacing (h), sent out by least one light
Emitter (A-F) launches light extraction with default radiation angle (α-γ) towards object (O),
Wherein, launched by least one optical transmitting set (A-F) and connect by the light that object (O) reflects by least one light
Device (6) is received to detect with default incidence angle (α ", β "), and
Wherein, according to radiation angle (α-γ), incidence angle (α ", β ") and at least one optical transmitting set (A-F) with it is described at least
The distance between one optical receiver (6) (s'；S ") determine between transport facility especially motor vehicle (10) and object (O)
Spacing (h).
5. the method as described in claim 1 or 2, it is characterised in that in order to determine the spacing (h), at least one light
Transmitter includes multiple optical transmitting sets (A-F),
Launched by each optical transmitting set (A-F) with corresponding respectively to each optical transmitting set (A-F) radiation angle (α-γ) towards object (O)
Light,
At least one optical receiver includes multiple optical receivers (6),
Each optical receiver (6) with incidence angle (α ", β ") detection light corresponding to each optical receiver (6), and
That optical receiver (6) of the light launched according to detection by one of optical transmitting set (A-F) and reflected by object (O)
The radiation angle of incidence angle (α ", β "), the optical transmitting set (A-F) detected according to that described transmitting light by the optical receiver (6)
(α-γ) and according to the distance between the optical receiver (6) and the optical transmitting set (A-F) (s'；S ") determine communications and transportation
Spacing (h) between instrument especially motor vehicle (10) and object (O).
6. one kind is used for detection object (O) and/or for determining transport facility especially motor vehicle (10) and its close pair
As the sensing system of the spacing (h) between (O),
Wherein, the sensing system (20) includes at least one optical transmitting set (A-F), at least one optical receiver (6), electric capacity
Formula sensor (1) and apparatus for evaluating (7), wherein, at least one optical transmitting set (A-F) is designed for launching towards object (O)
Light, and wherein, the apparatus for evaluating (7) is designed for according to the light and electricity by least one optical receiver (6) detection
Capacity sensor (1) to detect environment measurement result detection object (O) and/or determine sensing system (20) with close to its
Object (O) between spacing (h).
7. the sensing system as described in claim 6,
Wherein, at least one optical receiver (6) is designed for detection light,
Wherein, the sensing system (20) in operational mode is detected designed for running at least one optical receiver
(6) with detection object (O),
Wherein, the sensing system (20) be designed for when the light by least one optical receiver (6) detection include by
At least one optical transmitting set (A-F) launch and by object (O) reflect light when, detect the object (O),
Wherein, the sensing system (20) is designed in the distance measurement operational mode different from the detection operational mode
It is at least one in middle operation at least one optical receiver (6), to determine between sensing system (20) and object (O)
Spacing (h), and
Wherein, the sensing system (20) is designed for determining sensing system according to information by the apparatus for evaluating (7)
(20) spacing (h) between object (O), described information be launch at least one optical transmitting set (A-F) and
How to be detected by the light of object (O) reflection by least one optical receiver (6).
8. the sensing system as described in claim 6 or 7, it is characterised in that
At least one optical receiver includes multiple photodiodes (6) for being arranged as matrix (5) form, and
At least one optical transmitting set includes multiple optical transmitting sets (A-F) for being arranged in the matrix (5) side.
9. the sensing system as described in claim 8, it is characterised in that
The photodiode (6) is embarked on journey (26) and (27) is arranged in column in the matrix (5),
In the distance measurement operational mode, only activation is arranged in the photoelectricity two in the predetermined phase colleague of matrix (5)
Pole pipe (6),
The first half optical transmitting set (A-C) is arranged in the first edge side of the matrix (5), and the first edge is perpendicular to institute
Row is stated, and
The second half optical transmitting set (D-F) is arranged in the second edge side of the matrix (5), and the second edge is perpendicular to institute
State capable and opposed with the first edge of matrix (5).
10. the sensing system as described in one of claim 6 to 9, it is characterised in that sensing system (20) design is used
In implementation according to the method described in one of claim 1 to 5.
11. a kind of transport facility especially motor vehicle, have according to the sensing system described in one of claim 6 to 10
(20)。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
| DE102012006347.4 | 2012-03-28 | ||
| CN2013101008557A CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101008557A Division CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107656285A true CN107656285A (en) | 2018-02-02 |
Family
ID=49154410
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510059106.3A Pending CN104656096A (en) | 2012-03-28 | 2013-03-27 | Method for detecting objects and/or determining distance between object and transport facility |
| CN201710853865.6A Pending CN107656285A (en) | 2012-03-28 | 2013-03-27 | Detection object and/or the method and sensing system for determining spacing |
| CN2013101008557A Pending CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510059106.3A Pending CN104656096A (en) | 2012-03-28 | 2013-03-27 | Method for detecting objects and/or determining distance between object and transport facility |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101008557A Pending CN103364789A (en) | 2012-03-28 | 2013-03-27 | Method and sensor system for detecting target and/or determining space |
Country Status (2)
| Country | Link |
|---|---|
| CN (3) | CN104656096A (en) |
| DE (1) | DE102012006347A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023051482A1 (en) * | 2021-09-28 | 2023-04-06 | 北京一径科技有限公司 | Lidar ranging method and lidar system |
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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 |
| DE102018122263B4 (en) * | 2018-09-12 | 2021-03-18 | Sick Ag | Autonomous vehicle |
| CN110924121B (en) * | 2019-11-22 | 2021-09-28 | 江苏开创检测技术有限公司 | Detection device of clothing needle detector |
| 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
| Publication number | Publication date |
|---|---|
| DE102012006347A1 (en) | 2013-10-02 |
| CN104656096A (en) | 2015-05-27 |
| CN103364789A (en) | 2013-10-23 |
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