DE102008013906A1 - Optical delay sensor for scanning large area of scene in azimuth and elevation regions, has passive reflector magnetically positioned from outside and contactlessly movable from outside for scanning scene in elevation - Google Patents
Optical delay sensor for scanning large area of scene in azimuth and elevation regions, has passive reflector magnetically positioned from outside and contactlessly movable from outside for scanning scene in elevation Download PDFInfo
- Publication number
- DE102008013906A1 DE102008013906A1 DE102008013906A DE102008013906A DE102008013906A1 DE 102008013906 A1 DE102008013906 A1 DE 102008013906A1 DE 102008013906 A DE102008013906 A DE 102008013906A DE 102008013906 A DE102008013906 A DE 102008013906A DE 102008013906 A1 DE102008013906 A1 DE 102008013906A1
- Authority
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- Germany
- Prior art keywords
- transmitter
- mirror
- rotation
- outside
- sampling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
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- 238000005452 bending Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims 14
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
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- 238000004804 winding Methods 0.000 description 10
- 230000005294 ferromagnetic effect Effects 0.000 description 8
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- 230000005684 electric field Effects 0.000 description 2
- 230000002996 emotional effect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 229910000859 α-Fe Inorganic materials 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 210000003746 feather Anatomy 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
Description
Stand der TechnikState of the art
Es sind eine Reihe von optischen Laufzeitsensoren bekannt, die die zu vermessende Szene mit verschiedenen Methoden abtasten. Auch Sensoren mit Sendezeilen und Empfangszeilen sind bekannt. Diese Sensoren sind z. B. in folgenden Schriften beschrieben:
-
DE 197 17 399 C2 -
DE 101 14 362 C2 -
DE 101 46 692.7 -
DE 10 2004 014 041.3 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799.4
-
DE 197 17 399 C2 -
DE 101 14 362 C2 -
DE 101 46 692.7 -
DE 10 2004 014 041.3 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799.4
Alle diese Systeme sind relativ aufwändig für die Abtastung einer großen Fläche der Szene im nahen Abstand.All these systems are relatively expensive for the scan a large area of the scene at close range.
Aufgabe der ErfindungObject of the invention
Aufgabe der Erfindung ist es mit einem optischen Laufzeitsystem einen großen Winkelbereich sowohl azimutal als auch in der Elevation abzutasten und dabei mit möglichst geringem Bauteileaufwand ein Entfernungsbild mit hoher Auflösung zu erzeugen. Für einen guten Signal-Rauschabstand soll die Leistungsdichte an den zu vermessenden Objekten möglichst hoch sein.task The invention is a large with an optical runtime system Angle range both azimuthal and in the elevation scan and doing so with the lowest possible component cost a distance image to produce with high resolution. For a good one Signal-to-noise ratio is intended to determine the power density to be measured Be as high as possible.
Beschreibung der ErfindungDescription of the invention
Die
Erfindung wird im Folgenden anhand der
Zur
besseren magnetischen Ankopplung dreht sich z. B. der ferromagnetische
Körper
Durch
diese Maßnahme kann durch die Wahl der Schwenkfrequenz
entsprechend
Gemäß
Wird
das System für die azimutale Abtastung nur für
einen Winkel < 360° verwendet,
kann mittels einer CCD-Zeile
Weitere
Ausführungen insbesondere des Sendeteils
Durch
die in diesem System berührungslos übertragene
Spannung können auch andere Ablenkverfahren gemäß
Ein
weiteres Ausführungsbeispiel ist in
Das
vom Motor
Die optische
Achse des Senders mit dem Strahlengang
The optical axis of the transmitter with the beam path
Wird
auf der Senderseite anstatt der mitlaufenden Laserdiode ein z. B.
durch einen Halbleiterlaser gepumpter Festkörperlaser
Eine
weitere Ausführungsform ist in
Der
doppelseitig verspiegelte Spiegel
Auf
die Unterseite des Spiegels wird der Ausgangstrahl
Auch
in diesem Fall kann auf der Sendeseite die Laserdiode
Ein
Blockschaltbild eines erfindungsgemäßen Sensors
ist in
Die
Signalauswertung
Der
Baustein
Ein
Blockschaltbild für die mechanisch-optische Anordnung gemäß
Die
Auslenkung kann hierbei wie bei
Alle
Bausteine wie Signalauswertung
Da
auch häufig Kameras bei der gewünschten Auflösung
und Pixelzahl nur einen kleinen Bildwinkel aufweisen, kann entsprechend
Eine
weitere Ausführung der Erfindung ist in
Die
Optik
Die
Empfangseinheit
Die
Empfangseinheit ist im Lager
Beide Motore sind so gestaltet, dass im jeweiligen Rotor entsprechende Permanentmagnetpole angeordnet sind.Both Motors are designed so that in the respective rotor corresponding Permanent magnetic poles are arranged.
Im
Fall der Verwendung zweier Motoren ist sowohl für die Sendeeinheit
Für
sehr preisgünstige Systeme kann eine Anordnung nach
An
der Scheibe
Ein
weiteres einfaches System ist in
Beide
Ringe
Mit der induzierten Spannung können auch piezoelektrisch oder elektrostatisch angetriebene Spiegel verwendet werden.With The induced voltage can also be piezoelectric or electrostatically driven mirrors are used.
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 19717399 C2 [0001] DE 19717399 C2 [0001]
- - DE 10114362 C2 [0001] - DE 10114362 C2 [0001]
- - DE 10146692 [0001] - DE 10146692 [0001]
- - DE 102004014041 [0001] - DE 102004014041 [0001]
- - DE 102005055572 B4 [0001] DE 102005055572 B4 [0001]
- - DE 102006045799 [0001, 0004] - DE 102006045799 [0001, 0004]
Claims (15)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013906A DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013906A DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102008013906A1 true DE102008013906A1 (en) | 2009-10-22 |
DE102008013906B4 DE102008013906B4 (en) | 2010-03-18 |
Family
ID=41078459
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008013906A Expired - Fee Related DE102008013906B4 (en) | 2008-03-13 | 2008-03-13 | Optical time-of-flight sensor with azimuth and elevation scanning |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102008013906B4 (en) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008019615B4 (en) * | 2008-04-18 | 2010-03-25 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical runtime sensor for space scanning |
EP2375266A1 (en) * | 2010-04-09 | 2011-10-12 | Sick AG | Opto-electronic sensor and securing method |
DE102014100245B3 (en) * | 2014-01-10 | 2014-11-20 | Sick Ag | Optoelectronic sensor and method for detecting objects in a surveillance area |
DE102014118054A1 (en) * | 2014-12-08 | 2016-06-09 | Valeo Schalter Und Sensoren Gmbh | Method and device for detecting objects for a motor vehicle |
DE102016011329A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with optics arranged in a rotor body |
DE102016011327A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with compact design |
DE102016011328A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LIDAR scanner with pentaprism |
DE102017006321A1 (en) | 2017-07-05 | 2019-01-10 | Wabco Gmbh | LIDAR sensor with reference plane adjustment |
DE102017215671A1 (en) * | 2017-09-06 | 2019-03-07 | Robert Bosch Gmbh | Scanning system and transmitting and receiving device for a scanning system |
WO2019057865A1 (en) * | 2017-09-22 | 2019-03-28 | Robert Bosch Gmbh | Laser scanner, for example, for a lidar system of a driver assistance system |
DE102018112410A1 (en) * | 2018-05-24 | 2019-11-28 | Valeo Schalter Und Sensoren Gmbh | Laser scanning device for an object detection device of a vehicle and corresponding object detection device |
DE102018222416B4 (en) | 2018-12-20 | 2023-01-26 | Robert Bosch Gmbh | Assembly for a LiDAR sensor and LiDAR sensor |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011011875C5 (en) * | 2011-02-21 | 2014-03-27 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical pulse transit time sensor |
DE102011103349B4 (en) | 2011-05-27 | 2017-06-01 | Audi Ag | Multifunctional pulse transit sensor system |
DE102015008310A1 (en) | 2015-06-30 | 2017-01-05 | Wabco Gmbh | Sensor device for environmental detection and method for detecting a zero point position of a rotatable unit of such a sensor device |
Citations (9)
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DE19818972A1 (en) * | 1997-11-26 | 1999-06-10 | Mitsubishi Electric Corp | Target range measuring device |
DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE10105774A1 (en) * | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10146692A1 (en) | 2001-09-21 | 2003-04-30 | Martin Spies | Hybrid distance image sensor uses rotation of polygonal deflection rod for simultaneous deflection of transmission and reception surfaces for electromagnetic waves |
DE10114362C2 (en) | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE102004014041A1 (en) | 2004-03-19 | 2005-10-13 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
US20070131844A1 (en) * | 2005-12-08 | 2007-06-14 | Takashi Shoji | Laser scanning device |
DE102005055572B4 (en) | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
DE102006045799A1 (en) | 2006-09-26 | 2008-04-10 | Hans Spies | Scanning laser distance sensor has laser diode that is driven by pulse driver directly such that electrical connection to mechanically driven carrier is unnecessary |
-
2008
- 2008-03-13 DE DE102008013906A patent/DE102008013906B4/en not_active Expired - Fee Related
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE19818972A1 (en) * | 1997-11-26 | 1999-06-10 | Mitsubishi Electric Corp | Target range measuring device |
DE10105774A1 (en) * | 2000-02-23 | 2001-08-30 | Riegl Laser Measurement Sys | Detecting object space with optoelectronic distance meter, involves calibrating distance measurement system with distance value determined by passing laser beam across reference object |
DE10114362C2 (en) | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692A1 (en) | 2001-09-21 | 2003-04-30 | Martin Spies | Hybrid distance image sensor uses rotation of polygonal deflection rod for simultaneous deflection of transmission and reception surfaces for electromagnetic waves |
DE10146692B4 (en) * | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
DE102004014041A1 (en) | 2004-03-19 | 2005-10-13 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
DE102004014041B4 (en) * | 2004-03-19 | 2006-04-06 | Martin Spies | Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement |
DE102005055572B4 (en) | 2005-11-19 | 2007-08-02 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling optical distance sensor |
US20070131844A1 (en) * | 2005-12-08 | 2007-06-14 | Takashi Shoji | Laser scanning device |
DE102006045799A1 (en) | 2006-09-26 | 2008-04-10 | Hans Spies | Scanning laser distance sensor has laser diode that is driven by pulse driver directly such that electrical connection to mechanically driven carrier is unnecessary |
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008019615B4 (en) * | 2008-04-18 | 2010-03-25 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Optical runtime sensor for space scanning |
EP2375266A1 (en) * | 2010-04-09 | 2011-10-12 | Sick AG | Opto-electronic sensor and securing method |
DE102014100245B3 (en) * | 2014-01-10 | 2014-11-20 | Sick Ag | Optoelectronic sensor and method for detecting objects in a surveillance area |
EP2894493A1 (en) * | 2014-01-10 | 2015-07-15 | Sick Ag | Optoelectronic sensor and method for detecting objects in a surveillance area |
DE102014118054A1 (en) * | 2014-12-08 | 2016-06-09 | Valeo Schalter Und Sensoren Gmbh | Method and device for detecting objects for a motor vehicle |
WO2018054512A1 (en) | 2016-09-21 | 2018-03-29 | Wabco Gmbh | Lidar sensor of compact construction |
DE102016011327A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with compact design |
DE102016011328A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LIDAR scanner with pentaprism |
DE102016011329A1 (en) | 2016-09-21 | 2018-03-22 | Wabco Gmbh | LiDAR sensor with optics arranged in a rotor body |
DE102017006321A1 (en) | 2017-07-05 | 2019-01-10 | Wabco Gmbh | LIDAR sensor with reference plane adjustment |
DE102017215671A1 (en) * | 2017-09-06 | 2019-03-07 | Robert Bosch Gmbh | Scanning system and transmitting and receiving device for a scanning system |
US11619711B2 (en) | 2017-09-06 | 2023-04-04 | Robert Bosch Gmbh | Scanning system and transmitting and receiving device for a scanning system |
WO2019057865A1 (en) * | 2017-09-22 | 2019-03-28 | Robert Bosch Gmbh | Laser scanner, for example, for a lidar system of a driver assistance system |
US11579259B2 (en) | 2017-09-22 | 2023-02-14 | Robert Bosch Gmbh | Laser scanner, for example for a LIDAR system of a driver assistance system |
DE102018112410A1 (en) * | 2018-05-24 | 2019-11-28 | Valeo Schalter Und Sensoren Gmbh | Laser scanning device for an object detection device of a vehicle and corresponding object detection device |
DE102018222416B4 (en) | 2018-12-20 | 2023-01-26 | Robert Bosch Gmbh | Assembly for a LiDAR sensor and LiDAR sensor |
US11703572B2 (en) | 2018-12-20 | 2023-07-18 | Robert Bosch Gmbh | Component assembly for a lidar sensor, and lidar sensor |
Also Published As
Publication number | Publication date |
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DE102008013906B4 (en) | 2010-03-18 |
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