DE102008019615B4 - Optical runtime sensor for space scanning - Google Patents
Optical runtime sensor for space scanning Download PDFInfo
- Publication number
- DE102008019615B4 DE102008019615B4 DE200810019615 DE102008019615A DE102008019615B4 DE 102008019615 B4 DE102008019615 B4 DE 102008019615B4 DE 200810019615 DE200810019615 DE 200810019615 DE 102008019615 A DE102008019615 A DE 102008019615A DE 102008019615 B4 DE102008019615 B4 DE 102008019615B4
- Authority
- DE
- Germany
- Prior art keywords
- mirror
- optical time
- flight sensor
- transmitter
- sensor according
- 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.)
- Expired - Fee Related
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 2
- 239000004065 semiconductor Substances 0.000 claims description 2
- 238000005530 etching Methods 0.000 claims 1
- 238000005457 optimization Methods 0.000 claims 1
- 238000002834 transmittance Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000001465 metallisation Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Optischer Laufzeitsensor zur Raumabtastung einer Szene mit
– mindestens einem Sender (101),
– mindestens einem Empfänger (113),
– einem einzigen bewegten Spiegel (103),
wobei der mindestens eine Sender (101) und der mindestens eine Empfänger (113) über jeweils eine Seite des einzigen bewegten Spiegels (103) abgebildet werden,
dadurch gekennzeichnet, dass der Empfänger (113) über diesen Spiegel (103) direkt auf die Szene abgebildet wird, und dass der Sender (101) als Laserzeile ausgebildet ist.Optical time sensor for space scanning a scene with
At least one transmitter (101),
At least one receiver (113),
A single moving mirror (103),
wherein the at least one transmitter (101) and the at least one receiver (113) are imaged on one side of the single moving mirror (103),
characterized in that the receiver (113) is imaged directly onto the scene via this mirror (103), and that the transmitter (101) is designed as a laser line.
Description
Stand der TechnikState of the art
Es sind eine Reihe von Sensoren bekannt, die einen Szenenraum abtasten. Diese Sensoren sind z. B. in folgenden Schriften dargestellt:
-
DE 101 14 362 C2 -
DE 101 46 692 B4 -
DE 10 2004 014 041 B4 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799 A1 -
CH 643 382 A
-
DE 101 14 362 C2 -
DE 101 46 692 B4 -
DE 10 2004 014 041 B4 -
DE 10 2005 055 572 B4 -
DE 10 2006 045 799 A1 -
CH 643 382 A
Bei dieser Schrift wird ein bewegter Spiegel beidseitig benützt jedoch werden bei dieser Anordnung vier weitere Umlenkspiegel verwendet, die entweder den Abtastwinkel oder die Fläche der Empfangsfläche stark einschränken.at However, this typeface uses a moving mirror on both sides In this arrangement, four further deflecting mirrors are used, which either the scanning angle or the surface of the receiving surface strong limit.
Alle diese Systeme verwenden zur Raumabtastung zusätzlich mindestens ein rotierendes Teil.All These systems additionally use at least one rotating one for space scanning Part.
Aufgabe der ErfindungObject of the invention
Aufgabe der Erfindung ist es mit einfachen und preiswerten, optischen, elektronischen und mechanischen Komponenten eine Raumabtastung durch Entfernungsmessungen durchzuführen und möglichst wenig bewegte Teile und nur solche Teile zu benützen, bei denen ausschließlich Federn als Lagerung Anwendung finden. Darüber hinaus sollen die Strahlungsgänge von Sender und Empfänger eine Parallaxe aufweisen um Blendungen aus dem Nahbereich zu minimieren.task The invention is simple and inexpensive, optical, electronic and mechanical components scanned space by distance measurements perform and as possible to use little moving parts and only those parts where only springs as storage application find. In addition, the radiation paths of Sender and receiver have a parallax to minimize glare from the near range.
Beschreibung der ErfindungDescription of the invention
Die
Erfindung wird anhand der
Wird
der Schwingspiegel
Entsprechend
Eine
weitere Ausführungsform
ist in
Einige
Beispiele von Verfahren für
die Ablenkung der Schwingspiegel sind in
Eine
Weiterführung
dieses Systems besteht darin, dass der Spiegel
Das
Blockschaltbild der Systeme nach
Die Abstandsmessung aller beschriebenen Systeme erfolgt vorwiegend nach dem Pulslaufzeitverfahren wie in den Schriften
-
DE 41 27 168 C2 -
DE 197 17 399 C2 -
DE 101 62 668 B4 -
DE 10 2006 049 A1
-
DE 41 27 168 C2 -
DE 197 17 399 C2 -
DE 101 62 668 B4 -
DE 10 2006 049 A1
Claims (13)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810019615 DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200810019615 DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102008019615A1 DE102008019615A1 (en) | 2009-11-05 |
DE102008019615B4 true DE102008019615B4 (en) | 2010-03-25 |
Family
ID=41130746
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008064652.0A Expired - Fee Related DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE200810019615 Expired - Fee Related DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008064652.0A Expired - Fee Related DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Country Status (1)
Country | Link |
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DE (2) | DE102008064652B4 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016221245A1 (en) | 2016-10-28 | 2018-05-03 | Robert Bosch Gmbh | Lidar sensor and method for detecting an environment |
EP3309584B1 (en) * | 2016-10-17 | 2023-09-27 | Funai Electric Co., Ltd. | Laser device |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014005350A1 (en) * | 2014-04-10 | 2015-10-15 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Optical obstacle detection sensor for a vehicle |
DE102014118974A1 (en) | 2014-12-18 | 2016-06-23 | Valeo Schalter Und Sensoren Gmbh | Laser scanner, Umlenkspiegelanordnung this and optical release means for a Umlenkspiegelanordnung |
DE102015108762A1 (en) * | 2015-06-03 | 2016-12-08 | Valeo Schalter Und Sensoren Gmbh | Holding device for holding a drive unit of a Umlenkspiegelanordnung, detection device with a Umlenkspiegelanordnung and motor vehicle |
DE102016200109A1 (en) | 2015-09-18 | 2017-03-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Apparatus and method for detecting objects in a detection area |
DE102016213427A1 (en) * | 2016-07-22 | 2018-01-25 | Zf Friedrichshafen Ag | LiDAR with tracked detection area |
DE102016010102A1 (en) | 2016-08-24 | 2018-03-01 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling Optical Distance Sensor |
DE102016219775A1 (en) * | 2016-10-12 | 2018-04-12 | Robert Bosch Gmbh | Lidar sensor for detecting an object |
DE102017104104A1 (en) | 2017-02-28 | 2018-08-30 | Valeo Schalter Und Sensoren Gmbh | Optical element for a transmitting device of an optical detection device, transmitting device, optical detection device, motor vehicle and method |
DE102017002866A1 (en) * | 2017-03-24 | 2018-09-27 | Blickfeld GmbH | Scanner with two sequential scan units |
DE102017207947A1 (en) * | 2017-05-11 | 2018-11-15 | Robert Bosch Gmbh | Laser scanner for a LIDAR system and method for operating a laser scanner |
CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
DE102017111868A1 (en) * | 2017-05-31 | 2018-12-06 | Valeo Schalter Und Sensoren Gmbh | Optical transmission unit and method for operating an optical transmission unit |
DE102017006321A1 (en) | 2017-07-05 | 2019-01-10 | Wabco Gmbh | LIDAR sensor with reference plane adjustment |
DE102017216826B4 (en) * | 2017-09-22 | 2024-05-02 | Robert Bosch Gmbh | Laser scanner, for example for a LIDAR system of a driver assistance system |
DE102017220395A1 (en) * | 2017-11-15 | 2019-05-16 | Osram Gmbh | DISTANCE MEASURING DEVICE |
DE102018203535A1 (en) | 2018-03-08 | 2019-09-12 | Zf Friedrichshafen Ag | Transmitter module for distance measurement with light signals, LiDAR device with such a transmitter module and method for distance measurement with light signals |
DE102018113739A1 (en) * | 2018-06-08 | 2019-12-12 | Blickfeld GmbH | Coaxial optical system of a friction-free scanning system for light detection and distance measurement, LIDAR, measurements |
DE102018128164A1 (en) * | 2018-11-12 | 2020-05-14 | Infineon Technologies Ag | LIDAR SENSORS AND METHOD FOR LIDAR SENSORS |
EP4302432A1 (en) | 2021-03-02 | 2024-01-10 | Sew-Eurodrive GmbH & Co. KG | Communication module for a system for transferring data by means of light beams and system for transferring data by means of light beams |
Citations (8)
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CH643382A5 (en) * | 1979-06-06 | 1984-05-30 | Zellweger Uster Ag | METHOD FOR MONITORING SPACE BY MEANS OF PULSED DIRECTIONAL RADIATION AND DEVICE FOR IMPLEMENTING THE METHOD. |
DE10114362C2 (en) * | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) * | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
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 |
DE102005049471A1 (en) * | 2005-10-13 | 2007-05-31 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Distance image sensor for measuring distance of electromagnetic impulses, has receiver that is charged by formation of entire surface of reception optics on mirror array and passage array |
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 |
DE102008013906A1 (en) * | 2008-03-13 | 2009-10-22 | Spies, Hans, Dipl.-Ing. | 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 |
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DE3424230A1 (en) * | 1984-06-30 | 1986-03-20 | Eltro GmbH, Gesellschaft für Strahlungstechnik, 6900 Heidelberg | Oscillating mirror |
DE3634724A1 (en) * | 1986-10-11 | 1988-04-28 | Wolfgang Brunk | METHOD AND DEVICE FOR CONTACTLESS OPTICAL MEASUREMENT OF TRAILS, ESPECIALLY IN THE TRIANGULATION METHOD |
FR2676284B1 (en) * | 1991-05-07 | 1994-12-02 | Peugeot | METHOD FOR DETECTING OBSTACLES PRESENT IN FRONT OF A MOTOR VEHICLE AND DEVICE FOR CARRYING OUT SUCH A METHOD. |
DE4127168C2 (en) | 1991-08-16 | 1994-07-07 | Spies Martin J Dipl Ing Fh | Signal processing for distance measurement |
DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
DE19831534C1 (en) * | 1998-07-14 | 1999-09-16 | Leuze Electronic Gmbh & Co | Optoelectronic device for object detection within surveillance zone |
AT409194B (en) * | 2000-02-23 | 2002-06-25 | Riegl Laser Measurement Sys | METHOD FOR RECORDING AN OBJECT SPACE |
DE10162668B4 (en) | 2001-12-19 | 2004-03-04 | Spies, Martin, Dipl.-Ing. (FH) | System for measuring the distance to objects by means of electromagnetic pulses |
DE10323317A1 (en) * | 2003-05-23 | 2004-12-16 | Conti Temic Microelectronic Gmbh | Car object detection or distance measurement optical system path folding unit uses silicon micromirror reflectors |
DE102004002936B4 (en) * | 2004-01-21 | 2016-05-12 | Robert Bosch Gmbh | Method and device for distance measurement |
DE102006049935B4 (en) | 2006-10-19 | 2009-12-17 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse propagation time sensor |
-
2008
- 2008-04-18 DE DE102008064652.0A patent/DE102008064652B4/en not_active Expired - Fee Related
- 2008-04-18 DE DE200810019615 patent/DE102008019615B4/en not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
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CH643382A5 (en) * | 1979-06-06 | 1984-05-30 | Zellweger Uster Ag | METHOD FOR MONITORING SPACE BY MEANS OF PULSED DIRECTIONAL RADIATION AND DEVICE FOR IMPLEMENTING THE METHOD. |
DE10114362C2 (en) * | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
DE10146692B4 (en) * | 2001-09-21 | 2004-08-05 | Spies, Martin, Dipl.-Ing. (FH) | Distance image sensor |
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 |
DE102005049471A1 (en) * | 2005-10-13 | 2007-05-31 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Distance image sensor for measuring distance of electromagnetic impulses, has receiver that is charged by formation of entire surface of reception optics on mirror array and passage array |
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 |
DE102008013906A1 (en) * | 2008-03-13 | 2009-10-22 | Spies, Hans, Dipl.-Ing. | 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 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3309584B1 (en) * | 2016-10-17 | 2023-09-27 | Funai Electric Co., Ltd. | Laser device |
DE102016221245A1 (en) | 2016-10-28 | 2018-05-03 | Robert Bosch Gmbh | Lidar sensor and method for detecting an environment |
Also Published As
Publication number | Publication date |
---|---|
DE102008019615A1 (en) | 2009-11-05 |
DE102008064652B4 (en) | 2014-03-27 |
DE102008064652A1 (en) | 2011-03-31 |
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Legal Events
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OP8 | Request for examination as to paragraph 44 patent law | ||
8364 | No opposition during term of opposition | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |