DE102016011329A1 - LiDAR sensor with optics arranged in a rotor body - Google Patents

Abstract

The invention relates to an optical detection device (1) for mounting on a vehicle (100) for detecting objects (106) in the vicinity of the vehicle (100), comprising at least one transmitter (2) for transmitting electromagnetic radiation (3) to a vehicle observed zone (101); at least one receiver (4) for receiving radiation (5) reflected from the observed zone (101); a substantially cylindrical rotor body (70) having a central housing portion (72) extending from opposite ends of a first axial stub shaft (74) and a second axial stub shaft (76), wherein the housing portion (72) an optical arrangement ( 6) carrying a first optic (8) for the transmitter (2) for directing the radiation into the observed zone, and a second optic (10) for the receiver (4) for directing the reflected radiation to the receiver (4) having; wherein the first and second optics (8, 10) are arranged along the axis of rotation (A); and a first bearing (54) and a second bearing (56), wherein the first stub shaft (74) is received in the first bearing (54) and the second stub shaft (76) is received in the second bearing (56).

Description

The invention relates to an optical detection device for mounting on a vehicle for detecting objects in the vicinity of the vehicle, comprising at least one transmitter for transmitting electromagnetic radiation into an observed zone and at least one receiver for receiving radiation reflected from the observed zone.

Furthermore, the invention relates to a vehicle with a front and a rear, which has at least one such optical detection device.

Such optical detection devices are known in the art and are generally referred to as optical time-of-flight sensors, laser scanners, LiDAR sensors, or LaDAR sensors. From a transmitter electromagnetic radiation is emitted and reflected by an object. By receiving the reflected radiation and corresponding transit time measurement of the signal, a distance between the detection device and the object which reflected the radiation can be determined.

Specifically, such detection devices are increasingly used in vehicles to allow the implementation of driver assistance systems and autonomous driving. In addition to such optical detection devices, infrared sensors, radar sensors and the like are also used. It has been found that such optical detection devices can be used, for example, for the detection of jams, object recognition, recognition of persons in the driving area or as turn sensors, which detect, for example, an object located next to a vehicle, such as a cyclist. In particular, in the field of trucks, this application is advantageous and can be used, for example, to detect whether a trailer collides with an object when turning. Data detected by such optical detection devices may be input to the vehicle controller, and the vehicle controller may output certain control signals, such as a brake system or a warning system, based on these data.

The use of such optical detection devices in the mass production of vehicles requires on the one hand that the production of such optical detection devices must be simple and inexpensive, on the other hand, that these optical detection devices are robust and the environmental influences that act on these when used in the vehicle area have to.

Out DE 10 2008 013 906 a generic detection device is known, are used in the deflecting the radiation mirror. A laser diode emits a light beam parallel to an axis of rotation of a rotatable optical assembly, and a mirror is used to redirect that light beam so that the azimuth can be scanned. A corresponding mirror arrangement is also provided for the receiver. The laser diode is rotated together with the optics. The control of the laser diode is realized via an induction coil. On the one hand, the problem here is that relatively high electromagnetic radiation prevails due to the energy transmission by means of induction, which may be undesirable in the vehicle sector since it can influence other electrical systems. For a corresponding shield in the vehicle area is often not enough space. A deflection by means of a mirror has the disadvantage that the mounting of the mirror must be very accurate and even small assembly inaccuracies lead to a variation of the direction of the transmitted radiation.

A similar optical detection device is off DE 10 2006 045 799 known, in which no mirror is provided for the transmitting laser diode, but this is aligned directly in the direction of the azimuth and is rotated. Further disclosed DE 10 2005 055 572 an optical detection device in which both transmitters and receivers are fixed. This has the advantage that it is not necessary to supply the transmitter via induction with electrical energy, this can rather be controlled directly. The deflection of the laser beam is again by means of a mirror. The disadvantage here is that during the rotation of the mirror, the image of the laser beam in the zone to be examined changes, namely rotates. This is due to the mirror tilting relative to the laser beam. The rotating image results in undesirable effects.

For a reliable result in the scan with associated high resolution, the laser beam must be projected as a vertical line. If the line is deflected into the scanning area via the rotating mirror, the image rotates and in the border areas an exact assignment of the signals to the position becomes inaccurate or impossible.

Another optical detection device which also operates with mirrors, wherein the mirrors have cylindrical sections at the edge, is shown in FIG DE 10 2004 041 500 A1 disclosed.

To improve the measurement accuracy is known to use multiple channels. This is for example in DE 197 17 399 disclosed. By using several different channels is it is possible to reduce visibility limitations due to weather-related backscatter such as spray, fog and snow.

Out EP 1 914 564 For example, an optical detection device using a common transmitter and receiver having the same optical path is known. The detection device disclosed therein uses a beam splitter which splits the beam into a beam for the associated zone and a correction beam, the correction beam being reflected over an always horizontal reflecting surface formed by the interface of two liquids. As a result, an inclination of the device is compensated. In order to still achieve a horizontally oriented beam of the transmitter with tilted detection device, uses the in EP 1 914 564 B1 Detection device disclosed a pentaprism, which has the property to provide in a certain frame, regardless of its location always a deflection between incident and outgoing beam at a fixed angle, usually of 90 °, with other angles are conceivable. In this respect, the pentaprism is "tilt-neutral". This property does not have a mirror.

Another example of an optical detection device is shown in FIG US 9,255,790 B2 disclosed. The device disclosed there also uses a pentaprism for the transmitter in order to deflect the beam by 90 °.

Out DE 44 12 044 For example, an optical detection device for detecting objects in a surveillance area is known in which the optical path for incident and outgoing radiation is identical. It is used a single deflection, which is designed as a mirror. The deflection element is connected in a variant directly to the output shaft of an internal rotor electric motor and arranged opposite to the transmitter and receiver. In a second variant, the optical path is partially divided by providing a first larger deflection element for the receiver. A smaller deflection element is arranged in an opening in the first deflection element and provided for the transmitter. Further, a drive is provided which rotates the two deflection elements together, wherein the transmitter is coupled directly to the output shaft of the internal rotor motor.

A problem with conventional detection devices is that they are often not sufficiently robust for use in the vehicle sector, especially for commercial vehicles. The use in the vehicle sector requires that the detection device can withstand the environmental influences that prevail in the vehicle, in particular vibration as well as the handling during assembly. Furthermore, a long life is important. In addition, there are often space constraints in the vehicle industry, and so a compact design is also desirable.

The object of the present invention is therefore to provide an optical detection device of the type mentioned, which is robust and compact in construction.

In a first aspect, the invention solves the above-mentioned object in an optical detection device of the type mentioned above in that it has a substantially cylindrical rotor body having a central housing portion from which a first axial stub shaft and a second axial one at opposite ends Shaft stubs extend, wherein the housing portion carries an optical arrangement having a first optics for the transmitter for directing the radiation in the observed zone and a second optics for the receiver for directing the reflected radiation to the receiver, wherein the first and second optics along the rotation axis are arranged, and wherein the optical detection device further comprises a first bearing and a second bearing, wherein the first stub shaft in the first bearing and the second stub shaft is received in the second bearing.

According to the invention, the optical detection device thus has a rotor body which accommodates both the first optic and the second optic. The rotor body is designed as a separate structural unit, but may itself be one or more parts. The housing section preferably forms a common housing for both the first and the second optics and accommodates them in part. The housing portion is preferably formed integrally with the rotor body. This protects the optics from environmental influences.

The first and second axial stub shafts extend coaxially from opposite ends of the housing portion. The housing section and thus also the optics are thus arranged between the two axial stub shafts. The entire rotor body is mounted over the stub shafts, and consequently the optical arrangement is also arranged between the bearings. As a result, a particularly robust storage of the optical components is achieved. Furthermore, this leads to a spatially compact arrangement.

In a first preferred embodiment, the optical detection device comprises a housing which supports the first and second bearings. The first and second bearings are supported on a common housing, and the optical detection device is together with the housing and preferably by means of the housing at one mountable corresponding mounting portion of a vehicle.

Preferably, the transmitter and the receiver are attached to the housing. Transmitter and receiver can be indirectly attached to the housing or directly. Transmitter and receiver are preferably stationary, while only the optical arrangement including the rotor body is rotated. The optical path preferably extends through the rotor body substantially along the axis of rotation of the rotor body. The rotor body preferably has corresponding passages for this purpose. The optical arrangement is adapted to deflect both the emitted and the reflected radiation by about 90 °. Also preferred are other angles, such as angles in a range of 80 ° to 100 °.

In a preferred embodiment, it is provided that the optical arrangement is supported by a frame within the housing section. The optical arrangement comprises a plurality of optical elements such as prisms and lenses or the like, which are preferably first mounted separately on a frame. The frame is then received in the housing section as a whole. As a result, both the assembly and the maintenance and production is simplified. The housing portion can thereby be manufactured with less tight tolerances than the frame, which accommodates the optical elements. In embodiments of the invention, the frame and the housing portion and / or the rotor body are integrally and / or integrally formed. In such cases, the frame may form the housing portion, and the two stub shafts are attached to the frame. Preferably, however, the housing portion forms a substantially closed space for the optical arrangement, so that it also forms a dust cover for the optical components.

According to a further preferred embodiment, it is provided that the first optics has a first optical element and a second optical element, wherein the first or the second optical element is adjustable for adjusting the direction of the exiting radiation. In the vehicle field, it is not always possible that the mounting position in the optical detection device is identical. This is due in particular to various manufacturing and assembly tolerances. Therefore, it is preferred that an adjustment of the exiting radiation is possible in order to be able to reliably detect objects. The incident radiation comes from either a deflector, such as a mirror or pentaprism. Alternatively, the radiation comes directly from the transmitter when the transmitter is disposed on the rotor body and rotates therewith.

The first optical element is preferably an element for redirecting the radiation. Preferably, the first optical element is a pentaprism. A pentaprism also has the advantage that it is tilt-neutral in certain areas and, in certain areas, regardless of its installation position, causes a 900 deflection of the incoming radiation. This also further enhances the robustness of the optical detection device. Here, too, other angles, for example angles in a range of 80 ° to 100 °, are preferred.

Preferably, the second optical element is a lens for spreading the radiation. The first lens is preferably a cylindrical lens or a Powell lens. The position of the lens is adjustable relative to the incident radiation along the axis of rotation. Alternatively, the prism can be moved relative to the lens to achieve this adjustment.

The transmitter is preferably designed to emit a narrow beam, which is approximately punctiform in the figure. If a laser diode is used as the transmitter, there is the additional problem that a very small rectangular signal is sent out with - in the figure - an aspect ratio of approx. 10: 1. This signal is converted in the path to the first optics by a lens in a "blurred" larger signal, which is then approximately round, similar to the image of a so-called laser pointer on the wall. In order to achieve a good detection of objects in the observed zone, it is advantageous to fan the beam of the transmitter, preferably perpendicular to the azimuth. That is, the spreading is preferably carried out so that the jet is fan-shaped, wherein the plane of the fan encloses the rotation axis or is parallel to it. Preferably, the first lens is arranged at the beam exit of the deflection element, such as a pentaprism. That is, the spread of the beam takes place only after deflection of the beam, whereby technical advantages are achieved. If, for example, a mirror is used as deflecting element and the beam fanned out in front of the mirror, the technical disadvantage results that the fan-shaped beam rotates. Therefore, the first lens is preferably arranged at the beam exit of such a deflection element.

The spread of the radiation is preferably carried out by 5 ° to 10 °, so that the emitted radiation forms a line in the figure. In embodiments of the invention it is provided that the first lens is formed integrally with the pentaprism of the first optics, in particular in one piece.

According to a further preferred embodiment of the invention, the first optical Element attached to a carriage which is movable along the axial direction of the axis of rotation. The second optical element, in particular the first lens, is preferably fastened to the frame and / or to the housing section of the rotor body. Alternatively it can also be provided that the first optical element is fixed to the frame and / or on the housing portion and the second optical element on the carriage. Depending on the precise configuration of the optical detection device, one or the other design may result in a constructional advantage. The carriage is movable along the axis of rotation. The axis of rotation is oriented substantially vertically in the mounted position, so that by the movement of the carriage along the axis of rotation, an adjustment of the direction of the emitted beam in the vertical direction is possible. A slide has proven itself, as it allows only the movement in the axial direction and no movement in the radial or tangential direction. The carriage preferably rests on the frame or on corresponding elements of the housing section. For example, a guide rail, such as a dovetail guide or the like may be provided.

Further, it is preferable that the optical detection device has an adjusting mechanism for adjusting the axial position of the carriage. The adjustment mechanism is used to adjust the position of the carriage. The adjustment mechanism is preferably operable from outside the optical detection device. The adjustment mechanism can be manually operated in a variant, for example by a service employee, who performs an adjustment after or during assembly of the optical detection device, so that the emitted radiation is emitted in a correct angular range. In variants it is also preferred that the adjustment takes place automatically, for example, depending on the inclination of the vehicle to which the detection device is attached. If the optical detection device is mounted on a truck, the inclination may change depending on a load or the type of trailer. For this purpose, a mechanism is preferably provided which makes an adjustment in such a case.

In a preferred refinement, the adjusting mechanism has an eccentric element which engages with the carriage such that the carriage is moved along the axis of rotation when the eccentric element rotates. The eccentric member preferably rests against the frame with a portion, and with a second portion, preferably an eccentric portion, it communicates with the carriage. By rotation of the eccentric so the carriage is adjustable relative to the frame. This is a particularly simple way of axial displacement of the carriage.

Other alternatives also include a pinion rack drive, a worm gear drive or a threaded rod drive.

Preferably, the adjustment mechanism is self-locking. The adjusting mechanism is preferably designed so that after setting an axial position of the carriage, this can no longer move automatically in an axial direction. As a result, the adjustment is further simplified. It is not necessary, for example, to provide an additional clamping element or a fixing, but the carriage remains automatically, namely by self-locking, in the set position. The self-locking can be realized for example by means of friction, a ratchet mechanism or a self-locking gear, such as a Schneckenradantriebs.

Furthermore, it is preferred that the optical detection device has a drive for rotating the rotor body about the axis of rotation, so that the emitted radiation is moved along the azimuth. Preferably, the body is permanently rotating in one direction and radiation is emitted only when the rotor body is oriented in the direction of the zone to be observed. An azimuthal motion moves the emitted beam along the azimuth, allowing objects to be detected in a wide range.

Preferably, the drive comprises an electric motor with a rotor and a stator, wherein the rotor is attached directly to the rotor body. This also achieves a compact design. Preferably, the optical detection device is gearless, and there is no transmission provided between the rotor of the electric motor and the rotor body. As a result, the maintenance is further reduced and error-prone also reduced. Preferably, the rotor of the motor is directly in contact with one of the stub shafts.

In a further variant, the drive has an electric motor and a transmission between the electric motor and the rotor body. Preferably, the transmission has a first gear on the rotor body and a second gear on the rotor of the motor, wherein the two gears mesh with each other. As a result, the arrangement of the motor can be largely independent of the arrangement of the rotor body, and the axial size of the detection device is reduced. It is also easier to do so Provide speed of the rotor body in the area which is preferred for the application.

In a second aspect, the invention solves the above-mentioned object in a vehicle of the type mentioned above with a front and a rear in that it has at least one optical detection device according to one of the above-described preferred embodiments of a detection device of the first aspect of the invention; as well as an electronic vehicle electrical system and a vehicle control, which is connected to the electrical system and controls functions of the vehicle, wherein the optical detection device is connected to the vehicle electrical system of the vehicle for transmitting data to the vehicle control. Data transmitted to the vehicle controller may include, for example, digitized distance information indicating a distance between the detection device and a detected object. Depending on these distance values, the vehicle control is preferably set up to output corresponding control signals to one or more control elements, such as a brake system.

Preferably, at least one optical detection device is provided at the front of the vehicle. This can for example be used to detect a traffic jam or a stationary vehicle in front of the vehicle. Additionally or alternatively, detection devices are preferably arranged at two front corners of the front, approximately in the region of direction indicators of the vehicle. Additionally or alternatively, it is also conceivable that detection devices are arranged on the sides of the vehicle, in a passenger car approximately in the region of the B pillar. Laterally arranged detection devices can be used in particular to detect, for example, cyclists or pedestrians in right-turning vehicle traffic, so that the detection device can be used as part of a turning assistance system. Also at the rear of the vehicle, one or more detection devices may be arranged to monitor the corresponding area. In principle, detection devices of the type mentioned above can be used on the vehicle where a corresponding zone is to be observed. As complete an observation as possible of the entire vehicle environment is desirable and preferred if the detection device of the present invention is to be used for, for example, autonomous driving.

Embodiments of the invention will now be described below with reference to the drawing. This is not necessarily to scale the embodiments, but the drawing, where appropriate for explanation, executed in a schematized and / or slightly distorted form. With regard to additions to the teachings directly recognizable from the drawing reference is made to the relevant prior art. It should be noted that various modifications and changes may be made in the form and detail of an embodiment without departing from the general idea of the invention. The disclosed in the description, in the drawing and in the claims features of the invention may be essential both individually and in any combination for the development of the invention. In addition, all combinations of at least two of the features disclosed in the description, the drawings and / or the claims fall within the scope of the invention. The general idea of the invention is not limited to the exact form or detail of the preferred embodiments shown and described below, or limited to an object that would be limited in comparison with the subject matter claimed in the claims. For the given design ranges, values within the stated limits should also be disclosed as limit values and be arbitrarily usable and claimable. For simplicity, the same reference numerals are used below for identical or similar parts or parts with identical or similar function.

Further advantages, features and details of the invention will become apparent from the following description of the preferred embodiments and from the drawings; these show in:

1 a schematic side view of an optical detection device according to the invention;

2 a further schematic side view of the detection device;

3 a perspective view of a partial exploded view of the detection device;

4 a perspective view of the optical detection device including housing, partially dismantled;

5 a perspective view of the optical detection device incorporated in another housing;

6 a perspective partially exploded view of the detection device;

7 a partially exploded view of the detection device according to another embodiment;

8th a perspective view of the rotor body;

9 an exploded view of the rotor body 8th ;

10 a perspective view of the optical arrangement; and

11 a schematic representation of a vehicle including detection device and to be detected object.

The basic principle of an optical detection device 1 according to the invention, for mounting on a vehicle 100 ( 10 ) is in 1 shown schematically. The detection device 1 has a transmitter 2 for transmitting electromagnetic radiation 3 into an observed zone 101 (see also 10 ) on. The electromagnetic radiation is preferably a laser pulse. Furthermore, the optical detection device 1 a receiver 4 to receive from the observed zone 101 reflected radiation 5 on. To conduct the radiation 3 . 5 has the optical detection device 1 according to this invention, an optical arrangement 6 on. The optical arrangement 6 has according to this embodiment, a first optics 8th for the transmitter 2 for conducting the radiation 3 into the observed zone 101 as well as a second optic 10 for the recipient 4 for conducting a reflected radiation 5 to the recipient 4 on. While transmitter 2 and receiver 4 are stationary, is the optical arrangement 6 rotatable about a rotation axis A. This is a drive 12 provided in 1 is shown only schematically (see, for example 2 ). The drive 12 rotates the optical arrangement 6 around the axis of rotation A. This allows the observed zone 101 scanning. The transmitted radiation 3 occurs approximately radially with respect to the axis of rotation A from the detection device 1 out. By the rotation of the optical arrangement 6 becomes the transmitted radiation 3 moved along the azimuth.

As it turned out 1 results, is the transmitter 2 set up to radiation 3 essentially along the axis of rotation A to send. The radiation 3 therefore has a section 3a on, which runs along the axis of rotation A. To the radiation 3 then send in the radial direction, so that they are in the zone to be observed 101 reaches, is a first optical element 16a , here in the form of a pentaprism 16 intended. The pentaprism 16 is part of the first optics 8th and serves the radiation 3 to deviate by 90 °. Depending on the application, a deflection of less than or more than 90 ° may be preferred. For example, there are 92 ° use cases to achieve less ground sensing in a vertical mounting position. As a result, a misdetection is avoided, for example, to the effect that the soil is mistakenly perceived as an obstacle.

The part 3b the radiation 3 Therefore, it occurs essentially radially with respect to the axis of rotation A from the optical detection device 1 out. To the radiation 3 initially narrow from the transmitter 2 exit, expand, spread or fan out is a second optical element 18a , here in the form of a first lens 18 provided in the schematic representation in 1 as a cylindrical lens 20 is trained. The cylindrical lens 20 is the pentaprism 16 downstream in the beam direction and spreads the beam 3 in the drawing plane of 1 on, that is in the installation situation of the optical detection device in the vertical direction. The beam proportion 3b is therefore spread fan-shaped and so in the zone 101 shown in a line.

The recipient 4 is also fixed in place and provided to the reflected radiation 5 essentially along the axis of rotation A to receive. Therefore, the part 5a the reflected radiation along the axis of rotation A aligned. Because the reflected radiation 5 initially radially in the section 5b in the detection device 1 enters, has the second optics 10 for the recipient 4 another pentaprism 14 on that the beam 5 also deflects by 90 ° and so to the receiver 4 passes. For focusing the reflected radiation 5 is a second lens 24 provided the radiation 5 bundles and bundles into the pentaprism 14 passes. This is a concentration of the radiation 5 possible, and the recipient 4 can be designed to save space.

The use of pentaprisms 14 . 16 has the advantage that these can compensate for small assembly errors, as regardless of the location of pentaprisms 14 . 16 based on the incident beam 3a and 5b the deflection always takes place at a defined angle. That is, even if the pentaprisms 14 . 16 based on the in 1 shown arrangement are slightly rotated, is still the beam 3 . 5 each deflected by 90 °. Furthermore, the special arrangement of the optical arrangement 6 in the center and transmitter 2 and receiver 4 external as well as the external drive 12 achieved a compact design.

The optical arrangement 6 is overall in a frame 30 arranged and thus formed as a single assembly. The drive 12 stands with the frame 30 contact and rotate this. The rotation is always carried out in one direction, with radiation 3 only emitted when the frame 30 is in a position where the radiation 3 in the direction of the zone 101 can escape.

In a first practical implementation of the optical detection device 1 this has a design like in 2 shown. In the embodiment according to 2 has the optical detection device 1 turn a transmitter 2 , a receiver 4 and an optical arrangement 6 on. transmitter 2 and receiver 4 are substantially at opposite ends of the detection device 1 arranged and the optical arrangement 6 in the middle. The optical arrangement 6 again has a first appearance 8th for the transmitter 2 as well as a second optic 10 for the recipient 4 on. The first look 8th has a pentaprism 16 and a first lens 18 , in turn, as a cylindrical lens 20 trained on, and the second optics 10 has a pentaprism 14 and a second lens 24 for focusing the incident radiation 5 (see. 1 ) on.

The transmitter 2 has according to this embodiment, a laser diode 26 on that on a first circuit board 62 is arranged. Accordingly, the recipient 4 designed as a photodiode and on a second circuit board 64 arranged. The circuit boards 62 . 64 are substantially opposite and aligned parallel to each other.

The drive 12 is between the transmitter according to this embodiment 2 and the optical arrangement 6 arranged. The drive 12 is thus external to the optical arrangement 6 to drive them. The drive 12 according to this embodiment, a brushless DC motor 32 up, a rotor 34 and a stator 36 Has. The motor 32 is designed as an external rotor motor, and insofar encloses the rotor 34 radially outward the stator 36 having the stator winding. By training the engine 32 as outer rotor is inside a cavity 40 educated. Also the output shaft 42 of the motor 32 is hollow, and thus the optical path P1 for the radiation 3 (see. 1 ) from the transmitter 2 until the first optics 8th through the engine 32 and the wave 42 pass through. The arrangement is particularly compact according to 2 in that a lens 44 through a bracket 45 also inside the cavity 40 is held. The Lens 44 is designed as a diffuser lens and serves to that of the transmitter 2 to soften emitted radiation. laser diodes 26 have the property that the emitted beam in the figure is rectangular, with this rectangular shape deviating from a square. This results in rotation of the optical arrangement 6 Again, the known imaging problems, so it is preferred, the diffuser lens 44 provided. The diffuser lens 44 serves to make the radiation diffuse, so that in about a point-like imaging of the radiation is achieved. The holder 45 Holds the diffuser lens 44 inside the cavity 40 so that the entire arrangement of the optical detection device 1 is compact.

The output shaft 42 is with a rotor housing 46 of the rotor 34 connected, which in turn the permanent magnets 48 wearing. The rotor housing 48 extends substantially dome-shaped or cup-shaped over the stator 36 , The output shaft 42 has a threaded shaft 50 on that with a threaded section 52 the optical arrangement 6 connected is. In this way, the optical arrangement 6 directly with the drive 12 coupled (see also 5 ).

More precise is the optical arrangement 6 in this embodiment in a frame 30 arranged (in 2 not to be seen in detail, cf. 1 and 7 to 9 ), in turn, in a rotor body 70 is stored. The rotor body 70 has a central housing section 72 on, from which at opposite ends two stub shaft 74 . 76 extend axially. Both the rotor body 70 as well as his stub shaft 74 . 76 are provided with a through hole, so that the corresponding radiation 3 . 5 can pass through. The emitted radiation 3 occurs according to 2 from the laser diode 26 along the optical path P1 through the diffuser lens 44 in the cavity 40 , Through the output shaft designed as a hollow shaft 42 , until the pentaprism 16 , out of this through the lens 20 and in the zone to be observed 101 (see. 1 and 10 ). Accordingly, reflected radiation occurs 5 through the lens 24 , the pentaprism 14 , the stub shaft 76 to the receiver 4 ,

The rotor body 70 is with his stubs 74 . 76 in corresponding bearings designed as bearings 54 . 56 stored, which in turn are supported on a housing. Due to the double bearing of the rotor body 70 becomes a stable arrangement for the optical arrangement 6 achieved, whereby the robustness is increased. In particular, the warehouse 54 also serves to support the drive 12 that's about the threaded section 50 with the rotor body 70 connected is.

In 3 is a variant of the optical detection device 1 shown from the previous figures. In 3 are just the most important elements for the optical arrangement 6 shown, so for example, the drive in 3 not shown. The embodiment according to 3 differs from the previous embodiments in particular in that the first lens 18 as a Powell lens 22 is trained. The Powell lens 22 also serves as the cylindrical lens 18 to that, the radiation 3 spread open and so to achieve a linear image. The Powell lens 22 is in 8th separate from the pentaprism 16 but may also be integral with it. A two-part training of first lens 18 and pentaprism 16 regardless of whether it is the first lens 18 around a cylindrical lens 20 or a Powell lens 22 has the advantage that the first lens 18 relative to the pentaprism 16 adjustable, as described below.

In the embodiment according to 4 is an optical detection device 1 as basically used in the embodiments of 2 and 3 has been described. In addition to those in the 2 and 3 The illustrated elements is the optical detection device 1 according to this embodiment with a housing 80 and a circuit board 60 shown. On the circuit board 60 is the controller 110 (see. 10 ) in the form of electronic components. The housing 80 has a basic body 180 on, in turn, two holding sections 182 . 184 for the rolling bearings 54 . 56 having. On the back of the case 80 is a first section 60 arranged the circuit board, which is substantially parallel to the axis of rotation A (see. 1 and 2 ). By the section 60 on the back of the case 80 is arranged, is the circuit board 60 from heat from the drive 12 as well as light effects from the optical arrangement 6 protected.

The housing 80 also has four brackets 186a . 186b . 186c . 186d on, by means of which the detection device 1 at a corresponding section on a vehicle 100 (see. 10 ) is attachable. In addition, can be attached to the brackets 186a . 186b . 186c . 186d a housing cover may be provided which is transparent, so that corresponding radiation 3 . 5 from and to the optical arrangement 6 can get. Such a housing cover is in 4 not shown (cf. 5 ).

From the middle circuit board section 60 At two axial ends, a second printed circuit board section extends 62 and a third circuit board section 64 , On the second circuit board section 62 is the transmitter 2 attached (see in particular 3 ). According to this embodiment, on the second printed circuit board section 62 furthermore, the stator 36 by means of a separate stator holder 187 attached. This is also the orientation of the stator 36 to the transmitter 2 secured at low mounting. The rotor 34 is with its rotor housing 46 as above with respect to the embodiments of the 2 and 3 (see. 5 ), against the rotor body 70 screwed. Another separate holder for the rotor 34 is not scheduled. On the third circuit board section 64 is the recipient 4 arranged.

The second and third circuit board section 62 . 64 are via appropriate film hinges 66 . 68 with the first circuit board section 60 connected. These movie hinges 66 . 68 are formed by removing printed circuit substrate at the corresponding locations. The circuit board 60 . 62 . 64 is initially made a full surface, and applied the conductor on the surface. Subsequently, at the points where the film hinges 66 . 68 should be formed, substrate taken away, for example by milling. This allows the two circuit board sections 62 and 64 with respect to the first circuit board section 60 tilt upwards, so that they are arranged approximately at a 90 ° angle. This results in a particularly simple installation of the detection device 1 reached. The circuit board sections 60 . 62 . 64 Alternatively, they could also be connected with cables or designed as flexible films with contact paths. Depending on the design, cost advantages may arise.

5 shows the arrangement 4 with the housing 80 in another case 190 used. The housing 190 has a lower housing shell 191 and an upper shell 192 on. Together, the housing shells close 191 . 192 the detection device 1 including housing 80 one.

The upper housing shell 192 points at least in the area of the first lens 18 and the second lens 24 transparent sections 193a . 193b on, in variants also the entire housing shell 192 can be transparent.

The housing 80 is by means of four screws 194a . 194b . 194d . 194e against the lower housing shell 191 screwed. The screws 194a . 194b . 194d . 194e extend through the sections 186a . 186b . 186d . 186e (see also 4 ) and grip corresponding threaded sections 195a . 195b . 195d . 195e on the lower housing shell 191 one. The lower housing shell 191 also has a honeycomb structure inside 196 on, through the ventilation ducts 197 which are used to ventilate the electronic components and in particular the drive 12 serve.

Upper and lower housing shells 191 . 192 are connected to each other by means of a clip connection. For this purpose, the upper housing shell 192 tabs 198 on (in 5 only two provided with reference numerals), the corresponding projections 199 on the lower housing shell 191 intervention. Thus, a positive releasable connection between the housing shells 191 . 192 reached.

In 6 is the one with the threaded shaft 50 through the opening 50a guided, and a collar 51 the output shaft 42 is in contact with the bottom section 47 of the rotor housing 46 , To mount the rotor body 70 the optical arrangement 6 with the threaded section 52 against the section 50 screwed. For this purpose, the stub shaft 74 a corresponding hole 75 on, with an internal thread (in 7 not shown). Through the hole 75 also occurs the emitted radiation 3 from the laser diode 26 along the axis of rotation A, is then from the first optics 8th deflected and emerges radially from the lens 20 out. Accordingly, reflected radiation becomes 5 received and enters through the lens 24 in the second optics 10 a, is deflected and along the axis of rotation A through a second bore 77 in the stub shaft 76 to the recipient 4 directed. It is crucial that the drive 12 between the transmitter 2 and the optical arrangement 6 is arranged and the optical path P1 by the drive 12 through to the optical arrangement 6 runs.

According to 7 is another embodiment of the optical detection device 1 represented according to the invention. In the following, in particular, the differences from the first exemplary embodiment ( 1 to 6 ). The embodiment according to 7 differs especially in the type of drive 12 from the first three embodiments. According to the in 7 illustrated embodiment, the drive is in turn designed as a brushless DC motor, which is external to the optical arrangement 6 is arranged. While in the first embodiments, the rotational axis of the engine 32 coincides with the axis of rotation A of the optical arrangement 6 , is the rotation axis M of the motor 32 in the embodiment according to 7 radially offset and parallel to the axis of rotation A.

The motor 32 has a gearbox 90 with a pinion 120 on that with a wheel 122 combs. The wheel 122 is with the rotor body 70 coupled and approximately between the first and second optics 8th . 10 arranged. The rotor body 70 again has stub shafts 74 . 76 auf, which according to this embodiment ( 7 ) but not intended to be in rolling bearings 54 . 56 to be taken, but in plain bearings (not shown). That's why the stub axles are 74 . 76 according to the embodiment 7 formed with a larger diameter. On the stub shaft 74 . 76 here are additionally plain bearing bushes 74a . 76a postponed. On the plain bearing bush 74a is a part of the warehouse seat in addition to illustration purposes 74b shown.

Such an embodiment is particularly suitable when a short axial design of the detection device is advantageous because the drive 32 can be parallel and laterally offset from the rotor body. Furthermore, the transmission 90 be used to set a speed that is different from the rated speed of the motor 32 , Sliding bearings also have the advantage that they are reduced in weight compared to rolling bearings.

8th and 9 illustrate again in detail the rotor body 70 including optical arrangement 6 , once in an assembled view ( 8th ) and once in an exploded view ( 9 ). The first lens 18 is in both embodiments as a cylindrical lens 20 educated. Nevertheless, the following descriptions also apply to a Powell lens 22 ,

The frame 30 has a fixed part 85 and the sled 82 on. The fixed part 85 is on the housing section 72 attached so that it can not move along the axis of rotation A. The fixed part 85 has a holder 200 for the first pentaprism 14 , a second bracket 202 for the second lens 24 and a third bracket 204 for the cylindrical lens 20 on. In a central area is the eccentric element 86 provided, which on the one hand on the fixed part 85 and on the other hand with its eccentric 87 (see. 10 ) on the carriage 82 supported. The sled 82 in turn has a bracket 206 for the second pentaprism 16 , Such is the optical arrangement 6 overall in the frame 30 taken and trained as a unit. This unit, the frame 30 including the optical elements 14 . 16 . 20 . 24 is then in a recess 73 in the housing section 72 can be used and fixed there. This is on the housing section 72 a contact surface 72a formed, with the projections 208 (see. 8th ) of the frame 30 come into contact. This is a defined position of the frame 30 in the housing section 72 intended. To fix the frame 30 in the housing section 72 is a counter plate 210 provided, which in turn on the housing portion 72 supports and against the frame 30 is screwed.

At the stumps 74 . 76 is each a circumferential groove 212 . 214 provided with corresponding locking rings 216 . 218 for securing the bearings 54 . 56 interact. Through these circlips 216 . 218 are the bearings 54 . 56 on the corresponding shaft stubs 74 . 76 fixed. The bearings continue to be supported on the front sides 220 . 222 of the housing section 72 from.

10 illustrates again in a perspective view of the optical arrangement 6 , and especially the sled 82 , The frame 30 is in 10 omitted, and essentially the two are pentaprisms 14 . 16 as well as the first lens 18 and the second lens 24 shown. The frame 30 has according to this embodiment, the adjusting mechanism already described above 84 on, by means of which the relative position of the first lens 18 and pentaprism 16 is adjustable to each other. In 1 is through the arrows 83 hinted that the first lens 18 in the direction of the axis of rotation A is adjustable. According to the in 8th to 10 illustrated embodiment, it is provided that the pentaprism 16 relative to the captured first lens 18 is adjustable. This is the pentaprism 16 in a sledge 82 arranged, the axial position along the axis of rotation A through the adjusting mechanism 84 is adjustable. The adjustment mechanism 84 has the eccentric element 86 on which with the sledge 82 engaged so that the sled 82 upon rotation of the eccentric element 86 is moved along the axis of rotation A. The movement of the sled 82 as well as the pentaprism 16 is in 10 represented by the dashed lines (see also 8th ). The eccentric element 86 has on its front side an engaging portion 88 on, which is formed in this embodiment as a slot-shaped recess. This allows the eccentric element 86 by pressing a conventional screwdriver.

The adjustment mechanism 84 is used to an installation position of the detection device 1 compensate. It is necessary for a safe detection that the emitted beam 3 , in particular section 3b (see. 1 ), is emitted substantially horizontally and, even when spread, is not too high and not too low from the detection device 1 exit. Will the beam part 3b emitted with a too large angle down, "sees" the detection device 1 only the street floor and perceive this possibly as an obstacle. If, however, the angle is set too large and the section 3b of the beam 3 shows upward from the horizontal, it is conceivable that erroneously no obstacle is perceived as the radiation 3b runs above an obstacle. As the mounting position of the detection device 1 due to assembly tolerances is not always identical, it is preferred by means of the adjustment mechanism 84 the direction of the beam 3b adapt. This is preferably factory after assembly of the detection device 1 made and checked by reference points. The eccentric element 86 is designed in this embodiment that it is self-locking. If its rotational position is correctly adjusted, a further automatic rotation is inhibited and an adjustment of the relative position between Pentaprisma 16 and first lens 18 is prevented.

11 now illustrates an installation position of a detection device 1 on a vehicle 100 , The vehicle 100 has a front 102 and a tail 104 on, wherein according to this embodiment, the optical detection device 1 at the frontline 102 is arranged. Preferably, the optical detection device 1 in about the middle of the front 102 intended.

The optical detection device 1 emits radiation 3b into a zone to watch 101 , In the zone to be observed 101 is an object 106 which is shown schematically in this embodiment. At the object 106 it can be another vehicle, a person or another obstacle. From the object 106 becomes radiation 5 reflected, and the reflected radiation 5 partially returns to the optical detection device 1 and becomes the receiver there as described above 4 directed. The optical detection device 1 also has a controller 110 which is adapted to the time difference of the emission of the radiation 3 and the reception of the reflected radiation 5 a distance D between the object 106 and the optical detection device 1 to determine.

The control 110 is via a wiring system 112 of the vehicle with the vehicle control 114 connected and sends data 116 to this. The data 116 may contain digitized data of the distance D or also the raw data of the transit time measurement. The vehicle control 114 is preferably set up from the received data 116 Derive measures, such as output a brake signal when the distance D falls below a minimum distance. Alternatively or additionally, the vehicle control 114 be set up to issue a warning signal to a driver.

LIST OF REFERENCE NUMBERS

1

detection device

2

transmitter

3

emitted radiation

3a

axial portion of the emitted radiation

3b

radial portion of the emitted radiation

4

receiver

5

reflected radiation

5a

axial portion of the reflected radiation

5b

radial portion of the reflected radiation

6

optical arrangement

8th

first appearance

10

second optics

12

drive

14

first pentaprism

16

second pentaprism

16a

first optical element

18

first lens

18a

second optical element

20

cylindrical lens

22

Powell lens

24

second lens

26

laser diode

30

frame

32

electric motor

34

rotor

36

stator

40

cavity

42

output shaft

44

Diffuser lens

45

bracket

46

rotor housing

47

bottom section

48

permanent magnets

50

threaded shaft

50a

opening

51

collar

52

threaded portion

54.56

roller bearing

60, 62, 64

circuit board

66.68

film hinges

70

rotor body

72

housing section

72a

contact surface

73

recess

74

first stub shaft

74a

bearing bush

74

Part of the bearing seat

75

first hole

76

second stub shaft

76b

bearing bush

77

second hole

80

casing

82

carriage

83

arrows

84

adjustment mechanism

85

fixed part

86

eccentric

87

eccentric

88

engaging portion

90

transmission

100

vehicle

101

watched zone

102

front

104

Rear

106

object

110

control

112

board network

114

vehicle control

116

dates

120

pinion

122

wheel

180

body

182.184

holding portions

186a, 186b, 186c, 186d

brackets

187

stator support

190

casing

191

lower housing shell

192

upper housing shell

193a, 193b

transparent sections

194a, 194b, 194d, 194e

screw

195a, 195b, 195d, 195e

threaded sections

196

honeycomb structure

197

ventilation ducts

198

tabs

199

projections

200, 202, 204

first bracket

206

second bracket

208

projections

210

counter plate

212, 214

circumferential groove

216, 218

Retaining rings

220, 222

front sides

A

axis of rotation

D

distance

P1

optical path

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• DE 102008013906 [0006]
• DE 102006045799 [0007]
• DE 102005055572 [0007]
• DE 102004041500 A1 [0009]
• DE 19717399 [0010]
• EP 1914564 [0011]
• EP 1914564 B1 [0011]
• US 9255790 B2 [0012]
• DE 4412044 [0013]

Claims (15)

Optical detection device ( 1 ) for mounting on a vehicle ( 100 ) for the detection of objects ( 106 ) near the vehicle ( 100 ), with: - at least one transmitter ( 2 ) for transmitting electromagnetic radiation ( 3 ) into an observed zone ( 101 ); - at least one recipient ( 4 ) for receiving from the observed zone ( 101 ) reflected radiation ( 5 ); A substantially cylindrical rotor body ( 70 ), which has a central housing section ( 72 ) of which at opposite ends of a first axial stub axle ( 74 ) and a second axial stub shaft ( 76 ), wherein the housing section ( 72 ) an optical arrangement ( 6 ), which - a first optic ( 8th ) for the transmitter ( 2 ) for directing the radiation into the observed zone, and - a second optic ( 10 ) for the recipient ( 4 ) for directing the reflected radiation to the receiver ( 4 ) having; wherein the first and second optics ( 8th . 10 ) are arranged along the axis of rotation (A); and - a first warehouse ( 54 ) and a second warehouse ( 56 ), wherein the first stub shaft ( 74 ) in the first warehouse ( 54 ) and the second stub shaft ( 76 ) in the second warehouse ( 56 ) is recorded. Optical detection device ( 1 ) according to claim 1, comprising a housing ( 80 ), the first and second bearings ( 54 . 56 ) on the housing ( 80 ) are supported. Optical detection device ( 1 ) according to claim 2, wherein the transmitter ( 2 ) and the recipient ( 4 ) on the housing ( 80 ) are attached. Optical detection device ( 1 ) according to one of the preceding claims, wherein the optical arrangement ( 6 ) by a frame ( 30 ) within the housing section ( 72 ) is worn. Optical detection device ( 1 ) according to any one of the preceding claims, wherein the first optic ( 8th ) a first optical element ( 16a ) and a second optical element ( 18a ), wherein the first or the second optical element ( 16a . 18a ) to adjust the direction ( 83 ) of the exiting radiation ( 3 ) is adjustable. Optical detection device ( 1 ) according to claim 5, wherein the first optical element ( 16a ) an element for redirecting the radiation ( 3 ). Optical detection device ( 1 ) according to claim 5, wherein the second optical element ( 18a ) a first lens ( 18 ) for spreading the radiation ( 3 ). Optical detection device ( 1 ) according to claim 5, 6 or 7, wherein the first optical element ( 16a ) on a carriage ( 82 ), which is movable along the axial direction of the rotation axis (A). Optical detection device ( 1 ) according to claim 8, with an adjusting mechanism ( 84 ) for adjusting the axial position of the carriage ( 82 ). Optical detection device ( 1 ) according to claim 9, wherein the adjusting mechanism ( 84 ) an eccentric element ( 86 ), which with the carriage ( 82 ) in such a way that the carriage ( 82 ) upon rotation of the eccentric element ( 86 ) is moved along the axis of rotation (A). Optical detection device ( 1 ) according to claim 9 or 10, wherein the adjustment mechanism ( 84 ) is self-locking. Optical detection device ( 1 ) according to one of the preceding claims, comprising a drive ( 12 ) for rotating the rotor body ( 70 ) around the axis of rotation (A) so that the emitted radiation ( 3 ) is moved along the azimuth. Optical detection device ( 1 ) according to claim 12, wherein the drive ( 12 ) an electric motor ( 32 ) with a rotor ( 34 ) and a stator ( 36 ), wherein the rotor ( 34 ) directly on the rotor body ( 70 ) is attached. Optical detection device ( 1 ) according to claim 12, wherein the drive ( 12 ) an electric motor ( 32 ) and a transmission ( 90 ) between the electric motor ( 32 ) and the rotor body ( 70 ) having. Vehicle ( 100 ) with a front ( 102 ) and a stern ( 104 ), comprising: - at least one optical detection device ( 1 ) according to any one of the preceding claims 1 to 14; - an electronic wiring system ( 112 ) and a vehicle control ( 114 ) connected to the vehicle electrical system ( 112 ) and functions of the vehicle ( 100 ) controls; the optical detection device ( 1 ) with the electrical system ( 112 ) of the vehicle ( 100 ) for transferring data ( 116 ) to the vehicle control ( 114 ) connected is.

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