DE102017005527A1 - Device for optically detecting an environment and vehicle with such a device - Google Patents

Device for optically detecting an environment and vehicle with such a device

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Publication number
DE102017005527A1
DE102017005527A1 DE102017005527.0A DE102017005527A DE102017005527A1 DE 102017005527 A1 DE102017005527 A1 DE 102017005527A1 DE 102017005527 A DE102017005527 A DE 102017005527A DE 102017005527 A1 DE102017005527 A1 DE 102017005527A1
Authority
DE
Germany
Prior art keywords
image sensor
vehicle
environment
image
device
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.)
Withdrawn
Application number
DE102017005527.0A
Other languages
German (de)
Inventor
Klaus Hermann
Ralf Rosenberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Priority to DE102017005527.0A priority Critical patent/DE102017005527A1/en
Publication of DE102017005527A1 publication Critical patent/DE102017005527A1/en
Application status is Withdrawn legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B13/00Optical objectives specially designed for the purposes specified below
    • G02B13/06Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B26/00Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating
    • G02B26/08Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating for controlling the direction of light
    • G02B26/0816Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating for controlling the direction of light by means of one or more reflecting elements
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B26/00Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating
    • G02B26/08Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating for controlling the direction of light
    • G02B26/0816Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating for controlling the direction of light by means of one or more reflecting elements
    • G02B26/0833Optical devices or arrangements using movable or deformable optical elements for controlling the intensity, colour, phase, polarisation or direction of light, e.g. switching, gating, modulating for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B27/00Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10Beam splitting or combining systems
    • G02B27/1066Beam splitting or combining systems for enhancing image performance, like resolution, pixel numbers, dual magnifications or dynamic range, by tiling, slicing or overlapping fields of view
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS, OR APPARATUS
    • G02B27/00Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10Beam splitting or combining systems
    • G02B27/14Beam splitting or combining systems operating by reflection only
    • G02B27/143Beam splitting or combining systems operating by reflection only using macroscopically faceted or segmented reflective surfaces
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00Details of cameras or camera bodies; Accessories therefor
    • G03B17/02Bodies
    • G03B17/17Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/183Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images

Abstract

The invention relates to a device (3) for optically detecting an environment of the device (3) with a camera (5) having an image sensor (7), a mirror arrangement (9) which is set up and arranged to receive light from the environment to direct the image sensor (7), and with a computing device (11) which is operatively connected to the image sensor (7) and adapted for the evaluation of image data of the image sensor (7). It is provided that the mirror arrangement (9) is switchable into at least two different functional states, wherein in a first functional state of the at least two functional states, a first environmental region of the environment on the image sensor (7) can be imaged, wherein in a second functional state of the at least two functional states a second environmental region of the environment, which is different from the first environmental region, can be imaged on the image sensor (7), and wherein the computing device (11) is set up to record image data of the first environmental region and of the image sensor (7) picked up by the image sensor (7) Assemble image data of the second surrounding area to a total image representing the first surrounding area and the second surrounding area.

Description

  • The invention relates to a device for optically detecting an environment of the device and a vehicle with such a device.
  • From the German Utility Model DE 20 2014 101 550 U1 For example, a 3D camera with an image sensor for acquiring three-dimensional image data emerges from a viewing area and with a panoramic mirror optical system arranged upstream of the image sensor, wherein the geometry of the panorama-mirror optical system does not form a rotational body. This has the advantage that the shaping of the panoramic mirror optics achieves a redistribution of measuring points and thus particularly interesting subregions of the environment can be detected more accurately at the expense of less interesting subregions. According to one embodiment, the panoramic mirror optics can be deformable, rotatable and / or tiltable, so that a preferred partial area of the field of view with particularly many measuring points, for example, when cornering in the direction of travel, or detected with an acceleration sensor tilting movements on bumps or sections can be compensated with gradient. In general, in such camera systems there is a contradiction between a first requirement to provide optics with the largest possible opening angle and a second requirement to provide the highest possible angular resolution, in particular in pixels / degree. When viewing a specific image sensor, an enlargement of the opening angle leads to a lower angular resolution, wherein, conversely, a higher angular resolution can be achieved only with a smaller opening angle. Increasing the resolution of the image sensor is not always possible or expensive.
  • The invention has for its object to provide a means for optical detection of an environment and a vehicle with such a device, said disadvantages do not occur.
  • The object is achieved by providing the subject matters of the independent claims. Advantageous embodiments emerge from the subclaims.
  • The object is achieved in particular by providing a device for optically detecting an environment of the device which has a camera with an image sensor and a mirror arrangement, wherein the mirror arrangement is set up and arranged to direct light from the environment onto the image sensor. The device also has a computing device that is operatively connected to the image sensor and configured for the evaluation of image data of the image sensor. The computing device is in particular operatively connected to the image sensor in such a way that image data recorded by the image sensor can be evaluated in the computing device and, in particular, can be transmitted to the computing device by the image sensor. It is provided that the mirror arrangement can be switched into at least two different functional states. In this case, in a first functional state of the at least two functional states, a first environmental region of the environment can be imaged onto the image sensor, wherein in a second functional state of the at least two functional states a second environmental region, which differs from the first environmental region, can be imaged on the image sensor. The computing device is set up to combine image data of the first surrounding area picked up by the image sensor and image data of the second surrounding area recorded by the image sensor into a total image representing the first surrounding area and the second surrounding area. In this way, it is possible to choose the aperture angle of the camera smaller than would be necessary for a single shot of the overall image, ie the first surrounding area and the second surrounding area together with the image sensor, wherein the opening angle can rather be chosen so that in each case individually the first surrounding area and the second surrounding area can be detected. Thus, an increased compared to a single shot of the overall image angular resolution can be achieved with the same resolution of the image sensor. However, the effect of an increased aperture angle can be achieved by composing the individual images of the two surrounding regions to form the overall image. Overall, such an enlarged opening angle for the camera is achieved at the same angular resolution. In particular, the overall image covers a larger angular range than a single image taken with the image sensor. The angular resolution of the whole picture and a single camera picture are identical.
  • It is possible that the device, in particular the camera, has optics which are set up to image light deflected by the mirror arrangement onto the image sensor. Alternatively or additionally, it is possible for the mirror arrangement itself to be designed as optics, the mirror arrangement in this case having imaging properties for imaging light from the surroundings onto the image sensor.
  • The computing device can be provided externally by the camera and be operatively connected to it via a cable-connected data connection or wirelessly, for example via WLAN or Bluetooth. But it is also possible that the computing device is integrated into the camera. In particular, the computing device can be designed as a field programmable gate array (FPGA) that can be programmed in the field of application.
  • It is important that the image data of the first surrounding area on the one hand - in particular as a first image - and the image data of the second surrounding area on the other hand - in particular as a second image - to exactly one overall image, in particular a panoramic image of the environment composed.
  • According to one development of the invention, it is provided that the at least two functional states are formed such that the first surrounding area and the second surrounding area overlap one another. Alternatively or additionally, the at least two functional states are formed such that the first surrounding region and the second surrounding region adjoin one another seamlessly. Alternatively or additionally, the at least two functional states are formed such that the first surrounding area and the second surrounding area are arranged separately from one another, wherein they preferably neither overlap nor adjoin one another seamlessly, but rather have a finite distance from one another. However, especially when the two surrounding areas overlap with each other or adjoin one another seamlessly, it is very easy to obtain a seamless, complete overall picture of the environment.
  • According to one embodiment of the invention, it is provided that the mirror arrangement can be switched into a plurality of functional states, in particular in more than two functional states, to which different environmental regions are respectively assigned. In this way, even large parts of the environment can be recorded and displayed by multiple switching of the mirror arrangement and multiple recording of image data by the image sensor in the form of a composite of several individual images overall picture.
  • By switching the mirror arrangement into different functional states, the camera is in particular given the opportunity to record images in different directions.
  • According to one embodiment of the invention, it is provided that the overall image of at least 120 ° to at most 360 ° of the environment, in particular 120 °, 180 °, 240 °, 300 ° or 360 ° of the environment - especially in a horizontal plane - detected. In this way, in any case, very large parts of the environment - preferably the complete environment - can be displayed with a comparatively high angular resolution on an overall picture.
  • According to one embodiment of the invention, it is provided that the device has a control device which is operatively connected to the mirror arrangement on the one hand and the camera and is arranged to switch the mirror arrangement with a refresh rate of the camera. Particularly preferably, the control device is set up to switch the mirror arrangement synchronously with the camera at the refresh rate of the camera. In this case, the control device is in particular configured to switch the mirror arrangement with the image refresh rate of the camera from a functional state into a next functional state. In this way, various environmental areas can be imaged on the image sensor in rapid succession, in particular with the image refresh rate of the camera, which in turn can be quickly assembled into an overall image, so that quickly as comprehensive and complete information about the environment in the form of the overall picture ,
  • Preferably, the control device is set up to control the camera at a predetermined refresh rate. It is possible that the predetermined image refresh rate is variable. But it can also be set constant. The control device is further configured to control, in particular to switch, the mirror arrangement in synchronism with the predetermined refresh rate. The image refresh rate of the camera mentioned here is also referred to as frame rate. In particular, it designates a number of image recordings which the camera takes per unit of time, in particular per second.
  • According to one embodiment of the invention, it is provided that the mirror arrangement has a multiplicity of micromirrors. In this way, the mirror arrangement can be switched very quickly, flexibly and variably into a plurality of functional states, so that a large number of different surrounding areas can be imaged on the image sensor. The micromirrors of the mirror arrangement are preferably adjustable individually or in groups, in particular displaceable and / or pivotable.
  • The object is also achieved by providing a vehicle having a device for optically detecting an environment according to one of the previously described embodiments. In connection with the vehicle, in particular, the advantages already described above are realized.
  • According to one embodiment of the invention, it is provided that the camera is oriented counter to an intended forward direction of travel of the vehicle, that is in particular that the camera is oriented in the direction of a vehicle rear and looks back in the reference frame of the vehicle, in particular, the image sensor with its optically sensitive side facing backwards. The mirror arrangement is arranged such that an environment arranged in the forward driving direction in front of the vehicle can be imaged on the image sensor. While the camera can therefore be oriented counter to the direction of travel, the mirror arrangement ensures that the beam path is deflected so that the camera looks back in the direction of travel. However, it is possible that the mirror arrangement can not only detect a part of the surroundings arranged in the forward direction of travel but also, in at least one functional state, parts of the surroundings which are arranged in a rear half-space around the vehicle. This is particularly the case when using the mirror assembly, an overall image can be generated, which comprises more than 180 ° of the environment - in the horizontal plane.
  • According to one embodiment of the invention, it is provided that the vehicle comprises a display device for displaying the overall image to a driver. The overall image generated by the computing device can then be displayed on the display device. For this purpose, the display device is preferably operatively connected to the computing device. In this way, the driver can obtain comprehensive and preferably complete information about the environment. It is possible that the device for optical detection at least partially, preferably completely replaces an otherwise provided in the vehicle, conventional system of mirrors. The vehicle thus requires thanks to the device for optical detection of the environment preferably no exterior mirrors and / or no interior mirror more. It is also possible that by means of the device one of the two side mirrors usually provided on both sides can be saved, that the interior mirror is replaced by the device, or also that the device is provided in addition to the mirror system to the completeness, accuracy and safety to increase the information available to the driver.
  • According to one embodiment of the invention, it is finally provided that the vehicle has a vehicle control device for the autonomous control of the vehicle. The vehicle control device is in particular configured to control, in particular to steer, to accelerate and / or to decelerate the vehicle along a predetermined route without intervention of a driver or only with slight assistance from the driver. The vehicle control device is preferably further configured to keep a predetermined speed of the vehicle and / or a predetermined distance of the vehicle to a preceding vehicle constant. The vehicle control device is operatively connected to the computing device and configured to use the overall image for autonomous control of the vehicle. For this purpose, a suitable image evaluation algorithm is preferably provided. With the overall picture, accurate and comprehensive, in particular complete picture data can be provided which enable autonomous navigation or support a driver, inter alia to detect obstacles, avoid collisions, search for suitable parking spaces for the vehicle, automatically park, and / or the like more.
  • The vehicle may in particular be designed as a motor vehicle, preferably as a passenger car, truck or commercial vehicle, as a work machine, forklift or the like. It is also possible for the vehicle to be designed as a driverless vehicle, for example as an AGV (Automated Guided Vehicle) or industrial truck. Such driverless vehicles are used in particular in closed environments, for example in the field of factory and logistics automation.
  • The invention will be explained in more detail below with reference to the drawing. The single figure shows a schematic representation of an embodiment of a vehicle with an embodiment of a device for optically detecting an environment of the vehicle.
  • The single FIGURE shows a schematic representation of an embodiment of a vehicle 1 with a device 3 for optically detecting an environment, in particular an environment of the device 3 and thus at the same time an environment of the vehicle 1 , The device 3 has a camera 5 with an image sensor 7 on, as well as a mirror arrangement 9 which is set up and arranged to receive light from the environment on the image sensor 7 to steer. The device also has a computing device 11 on that with the image sensor 7 operatively connected and for the evaluation of image data of the image sensor 7 is set up. The mirror arrangement 9 is switchable in at least two different functional states, wherein in a first functional state of the mirror assembly 9 a first surrounding area of the environment on the image sensor 7 can be imaged, wherein in a second functional state of the mirror assembly 9 a second surrounding area of the environment on the image sensor 7 is mappable, wherein the second surrounding area is different from the first surrounding area. The computing device 11 is set up by the image sensor 7 recorded image data of the first surrounding area and the image sensor 7 recorded image data of the second Surrounding area to one of the first surrounding area and the second surrounding area simultaneously representing overall picture, in particular panoramic picture to put together. This overall or panoramic image covers a larger angular range than the individual images that the image sensor 7 from the first surrounding area on the one hand and the second surrounding area on the other. However, the angular resolution of the panorama image and the angle resolutions of the individual images are identical. It can therefore without changing the image sensor 7 at constant angular resolution, an enlarged opening angle for the device 3 to be obtained.
  • The camera 5 is preferably an optic 13 assigned, in particular, the camera points 5 prefers the look 13 on, taking the optics 13 is set up by the mirror assembly 9 deflected light on the image sensor 7 map. But it is additionally or alternatively also possible that the mirror arrangement 9 itself acts as imaging optics or has imaging optical properties, so possibly even on an additional optics 13 can be waived.
  • The computing device 11 This is just for the sake of simplicity because of the outside of the camera 5 shown. She may actually be out of camera 5 be arranged; but it is also possible that the computing device 11 into the camera 5 integrated or integral with the camera 5 is formed, wherein the computing device 11 especially in this case may be formed as an FPGA or the like.
  • The at least two functional states of the mirror arrangement 9 are preferably selected such that the first surrounding area and the second surrounding area overlap one another, adjoin one another seamlessly, or are arranged separately from one another, that is to say in particular are spaced apart from one another at finite spacing. The mirror arrangement 9 preferably has a plurality of functional states, in particular more than two functional states.
  • That by means of the computing device 11 from the in the various functional states of the mirror assembly 9 The combined overall image preferably comprises at least 120 ° to at most 360 °, preferably 120 °, preferably 180 °, preferably 240 °, preferably 300 °, preferably 360 ° of the surroundings of the device 3 ,
  • The device 3 preferably has a control device 15 on that with the mirror assembly 9 on the one hand and with the camera 5 on the other hand is operatively connected and arranged to the mirror assembly 9 at a frame rate of the camera 5 - In particular, from a current functional state to a next functional state - in sync with the camera 5 to switch. It can do so with every shot of the camera 5 Within a sequence of shots each a different surrounding area of the environment are mapped. The control device is preferred 15 set up to the camera 5 with a certain refresh rate, and at the same time the mirror arrangement 9 in sync with the camera 5 to switch at the specified refresh rate.
  • The mirror arrangement 9 preferably has a multiplicity of micromirrors, which are preferably displaceable individually and in groups and / or pivotable.
  • The camera 5 is preferably against one - shown here by an arrow P - intended forward direction of travel of the vehicle 1 in particular, the image sensor 7 looks backwards with its photosensitive side against the forward direction of travel. The mirror arrangement 9 is in turn arranged so that a forward direction of travel in front of the vehicle 1 arranged environment of the image sensor is imaged.
  • The device 3 preferably has a display device 17 to display the by the computing device 11 created overall image to a driver of the vehicle 1 on.
  • The display device 17 can also be part of the vehicle 1 they may not be part of the facility 3 is. In any case, the display device 17 but with the computing device 11 operatively connected, so that in the computing device 11 created overall picture by means of the display device 17 can be displayed.
  • The vehicle 1 preferably has a vehicle control device 19 for the autonomous control of the vehicle 1 on, wherein the vehicle control device 19 with the computing device 11 is operatively connected and set up by the computing device 11 created, especially calculated overall picture for the autonomous control of the vehicle 1 to use. In this context, the overall picture is understood in particular as meaning the entirety of the data defining the overall picture. In the use of this data, that is the overall image, in the vehicle control device 19 At no time is it absolutely necessary to have a graphic or visual, visual visualization of the overall picture. This can rather be completely present and utilized at the level of the data defining it in the context of electronic data processing.
  • Overall, it turns out that with the facility presented here 3 and the vehicle 1 Advantageously, an enlargement of an opening angle can be achieved with constant angular resolution.
  • 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 202014101550 U1 [0002]

Claims (10)

  1. Facility ( 3 ) for optically detecting an environment of the device ( 3 ), with - a camera ( 5 ) with an image sensor ( 7 ), - a mirror arrangement ( 9 ), which is set up and arranged to transmit light from the environment to the image sensor ( 7 ) and with - a computing device ( 11 ) connected to the image sensor ( 7 ) and for evaluating image data of the image sensor ( 7 ), characterized in that - the mirror arrangement ( 9 ) is switchable into at least two different functional states, wherein - in a first functional state of the at least two functional states, a first environmental region of the environment on the image sensor ( 7 ), wherein - in a second functional state of the at least two functional states, a second ambient region of the environment, which is different from the first environmental region, on the image sensor ( 7 ) is mappable, and wherein - the computing device ( 11 ) is arranged to be detected by the image sensor ( 7 ) recorded image data of the first surrounding area and the image sensor ( 7 ) to assemble image data of the second environment region into a total image representing the first environment region and the second environment region.
  2. Facility ( 3 ) according to claim 1, characterized in that the at least two functional states are formed so that the first surrounding area and the second surrounding area - overlap with each other, or - adjoin one another seamlessly, or - are arranged separately.
  3. Facility ( 3 ) according to one of the preceding claims, characterized in that the mirror arrangement ( 9 ) is switchable into a plurality of functional states.
  4. Facility ( 3 ) according to one of the preceding claims, characterized in that the overall image of at least 120 ° to at most 360 °, in particular 180 °, in particular 240 °, in particular 300 °, in particular 360 ° of the environment of the device detected.
  5. Facility ( 3 ) according to one of the preceding claims, characterized by a control device ( 15 ) associated with the mirror assembly ( 9 ) and with the camera ( 5 ) is operatively connected and arranged to control the mirror arrangement ( 9 ) with a refresh rate of the camera ( 5 ) to switch.
  6. Facility ( 3 ) according to one of the preceding claims, characterized in that the mirror arrangement ( 9 ) has a plurality of micromirrors.
  7. Vehicle ( 1 ), with a facility ( 3 ) according to one of claims 1 to 6.
  8. Vehicle ( 1 ) according to claim 7, characterized in that the camera ( 5 ) against a designated forward direction of travel of the vehicle ( 1 ), wherein the mirror arrangement ( 9 ) is arranged and formed in such a way that a forward direction of travel in front of the vehicle ( 1 ) arranged environment on the image sensor ( 7 ) is mapped.
  9. Vehicle ( 1 ) according to one of claims 7 and 8, characterized by a display device ( 17 ) for displaying the entire image to a driver of the vehicle ( 1 ).
  10. Vehicle ( 1 ) according to one of claims 7 to 9, characterized by a vehicle control device ( 19 ), which is set up for the autonomous control of the vehicle ( 1 ), wherein the vehicle control device ( 19 ) with the computing device ( 11 ) and set up the overall picture for the autonomous control of the vehicle ( 1 ) to use.
DE102017005527.0A 2017-06-10 2017-06-10 Device for optically detecting an environment and vehicle with such a device Withdrawn DE102017005527A1 (en)

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117242A1 (en) 2018-07-17 2020-01-23 Jungheinrich Aktiengesellschaft Industrial truck with a camera

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202014101550U1 (en) 2014-04-02 2015-07-07 Sick Ag 3D camera for capturing three-dimensional images

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202014101550U1 (en) 2014-04-02 2015-07-07 Sick Ag 3D camera for capturing three-dimensional images

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018117242A1 (en) 2018-07-17 2020-01-23 Jungheinrich Aktiengesellschaft Industrial truck with a camera

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