DE102008064652A1 - Optical sensor for space scanning - Google Patents
Optical sensor for space scanning Download PDFInfo
- Publication number
- DE102008064652A1 DE102008064652A1 DE102008064652A DE102008064652A DE102008064652A1 DE 102008064652 A1 DE102008064652 A1 DE 102008064652A1 DE 102008064652 A DE102008064652 A DE 102008064652A DE 102008064652 A DE102008064652 A DE 102008064652A DE 102008064652 A1 DE102008064652 A1 DE 102008064652A1
- Authority
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- Germany
- Prior art keywords
- mirror
- optical time
- flight sensor
- sensor according
- scene
- 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.)
- Granted
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000005530 etching Methods 0.000 claims description 2
- 239000004065 semiconductor Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000010972 statistical evaluation Methods 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
- 241001136792 Alle Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
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- 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
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Images
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
Abstract
Optischer Laufzeitsensor zur Raumabtastung mit wenig bewegten Teilen, die ausschließlich durch Federelemente gelagert sind. Die Optiken der Empfänger- und Sende-Einheiten sind so gestaltet, daß die Strahlengänge eine Parallaxe aufweisen, um Eigenblendung im Nahbereich zu vermeiden.Optical transit time sensor for room scanning with few moving parts, which are only supported by spring elements. The optics of the receiver and transmitter units are designed so that the beam paths have a parallax to avoid self-glare in the close range.
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:
Alle diese Systeme verwenden zur Raumabtastung mindestens ein rotierendes Teil.All of these systems use at least one rotating part for space scanning.
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.The object of the invention is to carry out a spatial scanning by distance measurements with simple and inexpensive, optical, electronic and mechanical components and to use as few moving parts and only those parts where exclusively springs are used as storage application. In addition, the radiation paths of transmitter and receiver should 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
Die Abtastung der Szene mit den beschriebenen Anordnungen kann damit entsprechend
Einige Beispiele von Verfahren für die Ablenkung der Schwingspiegel sind in
Eine Weiterführung dieses Systems besteht darin, dass der Spiegel
Eine weitere Ausführungsform ist in
Werden die Spiegel um den Winkel
Eine weitere Ausführung ist in
Auf den Spiegel
Mit diesem System kann durch die Auswahl der Anzahl oder der Lage der Spiegel die für die Projektion auf den Detektor benützt werden insbesondere im Nabereich oder bei stark reflektierenden Zielen die Signalstärke gezielt gesteuert werden.By selecting the number or position of the mirrors that are used for the projection onto the detector, this system can be used to specifically control the signal strength, particularly in the low range or in the case of highly reflective targets.
Durch die Projektion der Rückstreuleistung auf den Detektor über die Spiegelmatrix ergeben sich folgende Vorteile:
- – Für die Endjustage ist nur noch die
Fokussierung der Sendelinse 107 notwendig. Alle anderen Justagen können automatisch vorgenommen werden. - – Während der Betriebszeit des Sensors wird durch statistische Auswertung der Signale bei verschiedenen Objektständen eine Optimierung und Nachjustage möglich.
- – Das System kann für einen sehr weiten Wellenlängenbereich von ca. 300 nm bis ca. 4 mm benützt werden.
- – Durch statistische Auswertung während des Fahr- oder Flugbetriebes kann die Abstimmung der Fahrzeug- oder Flugzeugtrajektorie mit der Sensorhauptrichtung vorgenommen werden.
- - For the final adjustment is only the focus of the
transmission lens 107 necessary. All other adjustments can be made automatically. - - During the operating time of the sensor, an optimization and readjustment becomes possible by statistical evaluation of the signals at different object states.
- The system can be used for a very wide wavelength range from about 300 nm to about 4 mm.
- - By statistical evaluation during driving or flight operation, the vote of the vehicle or aircraft trajectory can be made with the main sensor direction.
Das Blockschaltbild der Systeme nach
Das Blockschaltbild der Ausführung entsprechend
Der Baustein
Die Abstandsmessung aller beschriebenen Systeme erfolgt vorwiegend nach dem Pulslaufzeitverfahren wie in den Schriften
beschrieben. Die Abstandsmessung kann aber auch mit anderen Verfahren erfolgen.The distance measurement of all systems described is mainly based on the pulse transit time method as in the writings
described. The distance measurement can also be done with other methods.
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES 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 of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 10114362 C2 [0001] DE 10114362 C2 [0001]
- DE 10146692 B4 [0001] DE 10146692 B4 [0001]
- DE 102004014041 B4 [0001] DE 102004014041 B4 [0001]
- DE 102005055572 B4 [0001] DE 102005055572 B4 [0001]
- DE 102006045799 A1 [0001] DE 102006045799 A1 [0001]
- DE 4127168 [0020] DE 4127168 [0020]
- DE 19717399 C2 [0020] DE 19717399 C2 [0020]
- DE 10162668 B4 [0020] DE 10162668 B4 [0020]
- DE 102006049935 [0020] DE 102006049935 [0020]
Claims (12)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE102009049809.5A DE102009049809B4 (en) | 2008-04-18 | 2009-10-16 | Optical runtime sensor for space scanning |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE200810019615 DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Publications (2)
Publication Number | Publication Date |
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DE102008064652A1 true DE102008064652A1 (en) | 2011-03-31 |
DE102008064652B4 DE102008064652B4 (en) | 2014-03-27 |
Family
ID=41130746
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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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 After (1)
Application Number | Title | Priority Date | Filing Date |
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DE200810019615 Expired - Fee Related DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
DE102016213427A1 (en) * | 2016-07-22 | 2018-01-25 | Zf Friedrichshafen Ag | LiDAR with tracked detection area |
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 |
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 |
DE102022000460A1 (en) | 2021-03-02 | 2022-09-08 | Sew-Eurodrive Gmbh & Co Kg | Communication module for a system for data transmission using light beams and system for data transmission using light beams |
Families Citing this family (15)
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 |
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 |
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 |
JP6926439B2 (en) * | 2016-10-17 | 2021-08-25 | 船井電機株式会社 | Laser device |
DE102016221245A1 (en) | 2016-10-28 | 2018-05-03 | Robert Bosch Gmbh | Lidar sensor and method for detecting an environment |
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 |
DE102017216826A1 (en) | 2017-09-22 | 2019-03-28 | 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 |
DE102018128164A1 (en) * | 2018-11-12 | 2020-05-14 | Infineon Technologies Ag | LIDAR SENSORS AND METHOD FOR LIDAR SENSORS |
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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 |
DE10114362C2 (en) | 2001-03-22 | 2003-12-24 | Martin Spies | Laser scanning system for distance measurement |
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 |
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 |
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 |
DE102006049935A1 (en) | 2006-10-19 | 2008-04-24 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse running time sensor, has signals of transmitter digitized with analog/digital converter and/or threshold unit, and signal evaluation logic evaluating signals in same clock pulse of digitization, and outputs stored into assigned memory |
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DE102005049471B4 (en) * | 2005-10-13 | 2007-09-13 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Distance sensor with single surface scan |
DE102008013906B4 (en) * | 2008-03-13 | 2010-03-18 | Spies, Hans, Dipl.-Ing. | Optical time-of-flight sensor with azimuth and elevation scanning |
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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
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DE4127168A1 (en) | 1991-08-16 | 1993-02-18 | Spies Martin J Dipl Ing Fh | Multi-mode signal processor for distance measurement, e.g. between vehicles - has transmitter, receiver, and estimation processor comparing processed data with distance prognosis windows |
DE19717399C2 (en) | 1997-04-24 | 2001-05-23 | Martin Spies | Device for determining the distance and type of objects and the visibility |
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 |
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 |
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 |
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 |
DE102006049935A1 (en) | 2006-10-19 | 2008-04-24 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse running time sensor, has signals of transmitter digitized with analog/digital converter and/or threshold unit, and signal evaluation logic evaluating signals in same clock pulse of digitization, and outputs stored into assigned memory |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
US10557922B2 (en) | 2015-06-03 | 2020-02-11 | Valeo Schalter Und Sensoren Gmbh | Holding apparatus for holding a drive unit of a deviating mirror arrangement, detection apparatus having a deviating mirror arrangement, and motor vehicle |
DE102016213427A1 (en) * | 2016-07-22 | 2018-01-25 | Zf Friedrichshafen Ag | LiDAR with tracked detection area |
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 |
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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 |
DE102022000460A1 (en) | 2021-03-02 | 2022-09-08 | Sew-Eurodrive Gmbh & Co Kg | Communication module for a system for data transmission using light beams and system for data transmission using light beams |
WO2022184382A1 (en) | 2021-03-02 | 2022-09-09 | 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 |
Also Published As
Publication number | Publication date |
---|---|
DE102008019615B4 (en) | 2010-03-25 |
DE102008064652B4 (en) | 2014-03-27 |
DE102008019615A1 (en) | 2009-11-05 |
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