DE102017200721A1 - Scanning system, scanning device, transmitting and receiving device and method - Google Patents

Scanning system, scanning device, transmitting and receiving device and method

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Publication number
DE102017200721A1
DE102017200721A1 DE102017200721.4A DE102017200721A DE102017200721A1 DE 102017200721 A1 DE102017200721 A1 DE 102017200721A1 DE 102017200721 A DE102017200721 A DE 102017200721A DE 102017200721 A1 DE102017200721 A1 DE 102017200721A1
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DE
Germany
Prior art keywords
scanning
magnetic field
scanning device
device
transmitting
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.)
Pending
Application number
DE102017200721.4A
Other languages
German (de)
Inventor
Frederic Njikam Njimonzie
Joerg Muchow
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102017200721.4A priority Critical patent/DE102017200721A1/en
Publication of DE102017200721A1 publication Critical patent/DE102017200721A1/en
Application status is Pending legal-status Critical

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G02B26/085Optical 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 the reflecting means being moved or deformed by electromagnetic means
    • 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
    • G02B26/10Scanning systems
    • G02B26/101Scanning systems with both horizontal and vertical deflecting means, e.g. raster or XY scanners

Abstract

A scanning system for scanning an object is proposed, wherein the scanning system comprises a scanning device and a transmitting and receiving device, wherein the scanning device is designed to generate a primary beam, wherein the scanning device is designed to perform a scanning movement of the primary beam, wherein the scanning device for detection a secondary beam generated by an interaction of the primary beam with the object is formed, wherein the scanning system is designed such that for controlling the scanning movement, a time-variant magnetic field is generated by the transmitting and receiving device.

Description

  • State of the art
  • The invention is based on a scanning system according to the preamble of claim 1.
  • Such a scanning system is well known.
  • Wireless data transmission in conjunction with sensors and imaging systems is the subject of much research and development. For example, disclose DE 10 2013 219 567 A1 . DE 10 2014 207 893 and WO 2011 053 616 A2 Scanners and procedures that can be used to create three-dimensional images of bodies in close range.
  • Also revealed DE 3922556 a sensing device comprising a sensor receiver and a transponder with integrated sensor. Further disclosed US 2012 281 330 a method by which the movement of a small permanent magnet is navigable by at least 6 electromagnets. Further disclosed US 2009 0275800 a camera (pill cam) with integrated lighting and WO 2014 047 205 a wireless sensor system with a transmitting unit. Finally revealed WO 2008 022 842 a wireless tire pressure sensor module with integrated antenna and WO 2006 120 061 a battery as a carrier of a sensor structure.
  • Disclosure of the invention
  • It is an object of the present invention to provide a user-friendly and space-saving scanning system for scanning an object as well as a method for operating a scanning system.
  • The object is achieved in that the scanning system is designed such that a time-variant magnetic field is generated by the transmitting and receiving device for controlling the scanning movement.
  • In particular, the fact that the scanning system comprises a scanning device and a transmitting and receiving device, the scanning device is designed to carry out the scanning movement of the primary beam and a time-variant magnetic field is generated by the transmitting and receiving device for controlling the scanning movement, it is advantageously possible that the scanning movement of the scanning device can be controlled wirelessly by the transmitting and receiving device. This provides a wireless scanner. In particular, the fact that no cable between the scanning device and the transmitting and receiving device must be provided, the scanning system according to the invention is particularly user-friendly and space-saving in the optical imaging of otherwise difficult to access objects. In particular, the scanning system according to the invention is advantageous in medical applications, such as in endoscopy, gastroscopy (gastroscopy), colonoscopy (colonoscopy) and in the study of blood vessels. In addition, the scanning system according to the invention is advantageous, for example, in optical imaging of tubes and pipelines.
  • Advantageous embodiments and modifications of the invention are the dependent claims, as well as the description with reference to the drawings.
  • According to a preferred embodiment, it is provided that the scanning system is designed such that electrical energy is transmitted without contact from the transmitting and receiving unit to the scanning device. As a result, a wireless power supply of the scanning device or of the scanner is advantageously made possible.
  • According to a preferred embodiment, it is provided that the scanning device comprises a coil arranged in a static magnetic field of a permanent magnet of the scanning device, wherein the scanning system is designed such that the time-varying magnetic field in the coil induces an electric current and by an interaction between the electric current and the static magnetic field, a force acts on the coil, wherein the scanning system is in particular designed such that the scanning movement is performed by the force acting on the coil. As a result, a particularly space-saving option for the wireless control of the scanning movement is provided in an advantageous manner.
  • According to a preferred embodiment, it is provided that the scanning device comprises a permanent magnet, wherein the scanning system is designed such that acts by an interaction between the time-variant magnetic field and a static magnetic field of the permanent magnet, a force on the permanent magnet, the scanning system is in particular designed in that the scanning movement is performed by the force acting on the permanent magnet. As a result, another particularly space-saving option for wireless control of the scanning movement is provided in an advantageous manner.
  • Another object of the present invention is a scanning device of a scanning system according to the invention. The inventively preferred developments and advantages of Scan system apply accordingly also for the scanning device according to the invention.
  • Another object of the present invention is a transmitting and receiving device of a scanning system according to the invention. The inventively preferred developments and advantages of the scanning system also apply accordingly for the transmitting and receiving device according to the invention.
  • Another object of the present invention is a use of a scanning device according to the invention and / or a transmitting and receiving device according to the invention as a transponder.
  • Another object of the present invention is a method for operating a scanning system according to the invention, wherein the scanning device of the scanning system, a primary beam is generated, wherein the scanning device, a scanning movement of the primary beam is performed, wherein by the scanning device by an interaction of the primary beam with the object generated secondary beam is detected, wherein for controlling the scanning movement, a time-variant magnetic field is generated by the transmitting and receiving device.
  • According to a preferred embodiment, it is provided that electrical energy is transmitted without contact from the transmitting and receiving unit to the scanning device.
  • According to a preferred development, it is provided that an electric current is induced by the time-variant magnetic field in a coil of the scanning device arranged in a static magnetic field of a permanent magnet of the scanning device and a force acts on the coil by an interaction between the electric current and the static magnetic field In particular, the scanning movement is performed by the force acting on the coil.
  • According to a preferred embodiment, it is provided that a force acts on the permanent magnet by an interaction between the time-varying magnetic field and a static magnetic field of a permanent magnet of the scanning device, wherein in particular the scanning movement is performed by the force acting on the permanent magnet force.
  • The preferred developments and advantages of the scanning system according to the invention also apply correspondingly to the method according to the invention. Likewise, the preferred developments and advantages of the method according to the invention also apply correspondingly to the scanning system according to the invention.
  • list of figures
    • 1 to 9 12 schematically illustrate an object scanning system, a scanning system scanning device, a scanning system transmitting and receiving device, and a method of operating a scanning system in accordance with exemplary embodiments of the present invention.
  • Embodiments of the invention
  • In the various figures, the same parts are always provided with the same reference numerals and are therefore usually named or mentioned only once in each case.
  • In 1 to 9 are schematic diagrams of a scanning system 1 for scanning an object 3 , a scanning device 5 of the scan system 1 , a transmitting and receiving device 7 of the scan system 1 and a method of operating a scanning system 1 according to exemplary embodiments of the present invention.
  • This includes the scanning system 1 a scanning device 5 and a transmitting and receiving device 7 , The transmitting and receiving device 7 can also consist of several units. In other words, the transmitting and receiving device 7 preferably modular. In addition, the scanning device 5 for generating a primary beam 9 and for performing a scanning movement of the primary beam 9 educated. Furthermore, the scanning device 5 for detecting an interaction of the primary beam 9 with the object 3 generated secondary beam 11 educated. Further, the scanning system 1 designed such that for controlling the scanning movement, a time-variant magnetic field 13 from the transmitting and receiving device 7 is produced. The scanning system is preferred 1 designed such that electrical energy without contact from the transmitting and receiving unit 7 on the scanning device 5 is transmitted. For the energy input, it is advantageous, the transmitting unit 7 as close as possible (10-50cm) at the scanning device 5 to place. In other words, the transmitting and receiving unit 7 preferably at a distance of 10 to 50 cm from the scanning device 5 spaced apart. In addition, an energy input at relatively lower frequencies (kHz) is advantageous. In other words, the energy is preferably transmitted at frequencies in the kHz range.
  • In addition, the scanning device includes 5 preferred as in 1 exemplified one in a static magnetic field 15 one permanent magnets 17 the scanning device 5 arranged coil 19 , The static magnetic field is preferred 15 a magnetic field of the permanent magnet 17 and another permanent magnet 18 the scanning device 5 , Here is the scan system 1 preferably designed such that the temporally variant magnetic field 13 in the coil 19 an electric current 20 induced and by an interaction between the electric current 20 and the static magnetic field 15 a force on the coil 19 acts. The scanning system is preferred 1 formed so that the scanning movement through the on the coil 19 acting force is performed.
  • At the in 1 exemplary embodiment illustrated includes the scanning device 5 one, especially with respect to a frame 23 the scanning device 5 to a pivot axis 25 or rotation axis 25 swiveling or torsionally rotating plate 21 , The coil is preferred 19 on the hinged plate 21 impressed. Alternatively preferred are the pivotable plate 21 and the bobbin of the coil 19 or the coil 19 at least two separate masses, which are connected with springs, so as to realize a vibrating multi-spring mass system. The scanning device is preferred 5 formed such that the pivotable plate 21 is arranged in the static magnetic field 15 (B field). Preferably, the pivotable plate 21 and the static magnetic field 15 arranged one another such that a main extension plane 100 the hinged plate 21 and a main direction of the static magnetic field 15 lie within a plane. In addition, the main direction of the static magnetic field 15 preferably perpendicular to the pivot axis 25 arranged. A main direction of the in 1 exemplified temporally variant magnetic field 13 (dB / dt) is preferably perpendicular to the pivotable plate 21 arranged. In this case, the time-variant magnetic field preferably induces 13 in the on or in the pivoting plate 21 arranged coil 19 an electric current 20 , preferably an alternating electric current or an electric current 20 with a time-varying current intensity or current density (dJ / dt), wherein the electric current 20 in the coil 19 which are in the static magnetic field 15 is arranged, by Lorentz force to a tilting or pivoting of the pivoting plate 21 leads. In other words, in the static magnetic field 15 arranged coil 19 tilted by a current, which by a perpendicular to the coil 19 or perpendicular to the pivoting plate 21 or perpendicular to the static magnetic field 15 arranged changing magnetic field or time-variant magnetic field 13 is induced.
  • According to the invention, it is preferably provided that the scanning device 5 a micromirror 22 includes. The micromirror is preferred 22 on the hinged plate 21 arranged or the pivoting plate 21 as a micromirror 22 educated. The scanning device preferably comprises 5 a diode 28 , particularly preferably an (additional) laser diode 28 , Preferably, the diode generates 28 a beam which by reflection on the micromirror 22, the primary beam 9 produced or which of the primary beam 9 is. Further, the scanning system 1 preferably designed such that the scanning movement by pivoting the micromirror 22 , in particular about the pivot axis 25 , is carried out.
  • Preferably, a laser diode is placed directly on the pivotable plate. In addition, it is preferably provided that alternative scanning systems or scanning units that can not work on an optical basis are placed or arranged on the pivotable plate.
    • According to the invention, an alternative scanning unit preferably comprises an array of antennas, the array of antennas emitting radar waves when it is driven at frequencies in the upper MHz range, the radar waves being used as a distance measurement. In other words, the scanning device includes 5 for generating the primary beam 9 preferably an array of antennas. In addition, the primary beam includes 9 prefers radar waves.
    • In addition, an alternative scanning unit according to the invention preferably comprises an array of piezoelectric spots, the array of piezoelectric spots emitting sound waves which can be used for distance measurement (ultrasound). In other words, the scanning device includes 5 for generating the primary beam 9 preferably an array of piezoelectric spots. In addition, the primary beam includes 9 prefers sound waves, particularly preferably sound waves with frequencies from 16 kHz.
  • It is preferably provided that the current 20 not (only) for adjusting or pivoting the micromirror 22 but also (alternatively) for energy and / or information transfer, particularly preferably between the scanning device 5 and the transmitting and receiving device 7 , most preferably for information transfer from the scanning device 5 to the transmitting and receiving device 7 or for energy transfer from the transmitting and receiving device 7 to the scanning device 5 , is being used. Here is the scan system 1 preferably designed such that the energy and / or information transfer without contact from the scanning device 5 on the transmitting and receiving unit 7 or from the transmitting and receiving unit 7 on the scanning device 5 is transmitted. In addition, the energy expenditure for the information query is preferred - im Extreme case exclusively - from the outside, preferably from the transmitting and receiving device 7 the scanning device 5 , fed. Furthermore, the transmitting and receiving device 7 formed such that the transmitting and receiving device 7 generated electromagnetic waves in the range of kHz - GHz. The time-variant magnetic field is preferred by the electromagnetic waves 13 generated. The information transmission is preferably done at higher frequencies (upper MHz GHz) to transmit larger amounts of data in a shorter time. In addition, it is preferred to transmit data over several meters down to the single-digit GHz range (Blootooth, WLAN).
  • Furthermore, it is preferably provided that the scanning device 5 comprises a transponder or is designed as a transponder. In addition, the scanning device includes 5 preferably a transponder designed as a sensor. Particularly preferably, the scanning device comprises 5 a, in particular miniaturized wireless, microscanner, which is designed as a passive transponder. Here, the transmitting and receiving device 7 preferably as an active transmitting and receiving device 7 educated. The scanning device is preferred 5 formed such that the scanning device 5 incoming signals or information from one or more secondary beams 11 receives, converts them into electrical signals to the transmitting and receiving device 7 to get redirected. Preferably, the transponder is a passive or active transponder. This enables a low-power wireless method of information retrieval.
  • Furthermore, the, in particular passive, transponder or the, in particular passive, transponder unit preferably comprises:
    • - the micromirror 22 , where the micromirror 22 prefers the coil 19 includes, wherein the coil 19 preferably part of an LC resonant circuit of the scanning device 5 is
    • - An electronics, the mirror or micromirror 22 vibrated or the mirror 22 controls,
    • - Another electronics for operating a diode 28 the scanning device 5 .
    • - an array of capacities 29 . 29 ' . 29 " . 29 "' . 29 "" and / or an array of resistors formed by switching transistors 31 . 31 '; 31 " . 31 '' . 31 "" can be activated in the LC circuit,
    • - the diode 28 the scanning device 5 , in particular a VCSEL diode 28 (Vertical-cavity surface-emitting laser or surface emitter) of the scanning device 5 which emits and receives a beam of light or the primary beam 9 emits and the secondary beam 11 receives or detects, and depending on the duration of the light beam, so the distance of the object 3 from the scanning device 5 or from the diode 28 a voltage pulse at the output of the diode 28 generated. According to the invention, the scanning device is preferred 5 configured so that the diode 28 usable for different distance measuring methods.
  • The scanning device preferably comprises 5 a control, regulating and / or amplifier circuits, wherein the scanning device 5 is configured such that the electronics and the further electronics are implemented together in the control, regulating and / or amplifier circuits. According to the invention, minimum power consumption is made possible by minimal electronics.
  • Furthermore, it is preferably provided that the scanning device 5 comprises an LC resonant circuit ( 3 and 4 ). Preferably, the LC resonant circuit comprises the coil 19 , In addition, the scanning device 5 designed such that the LC resonant circuit is modified pixel by pixel. In this case, the transmitting and receiving device reads 7 prefers the value of each pixel. The transmitting and receiving device is preferred 7 formed such that the transmitting and receiving device 7 In this case, the attenuation or frequency of the LC resonant circuit is measured or read out pixel by pixel. As a result, a particularly resource-saving wireless data transmission between the scanning device 5 and the transmitting and receiving device 7 allows. According to the invention, the transmitting and receiving device preferably comprises 7 an electronics for evaluation. This can advantageously on an electronics for evaluation in the scanning device 5 be waived. Furthermore, it is thus possible to provide further transmitting and receiving devices in the scanning device 5 be omitted, which is a minimization of the size and power consumption of the scanning device 5 allows. In addition, the transmitting and receiving device comprises 7 preferably an antenna or a coil for transmitting and receiving or for communication with the coil 19 , In particular, it is provided that the coil 19 is formed as part of an antenna.
  • Furthermore, the fact that the transmitting and receiving device 7 measures or reads out the damping or frequency of the LC resonant circuit, the coil 19 Part of the LC resonant circuit is, advantageously, allows in the scanning device 5 no (additional) antenna is required for sending and receiving. This becomes a particularly compact scanning system 1 provided.
  • Besides, the diode is 28 preferably a laser diode 28 , in particular a VCSEL diode 28 (vertical-cavity surface-emitting laser diode or surface emitter diode). According to the invention, the scanning device 5 is configured such that the diode 28 or the laser diode 28 in pixel clock (eg 100kHz) light or the primary beam 9 emits and the reflected light or the secondary beam 11 receives. In addition, the scanning device 5 further configured such that the mirror 22 or the micromirror 22 is pivoted with respect to a first axis with a first frequency of preferably 1kHz and is pivoted with respect to a second axis with a second frequency of preferably 100Hz. Preferably, the first axis is the pivot axis 25 and the second axis a perpendicular to the pivot axis 25 arranged further pivot axis 27 , Alternatively, the first axis is preferably the further pivot axis 27 and the second axis the pivot axis 25 , The scanning device is preferred 5 formed such that the pivotable plate 21 or the micromirror 22 pivotable about the further pivot axis 27 opposite the frame 23 the scanning device 5 is. This will be a particularly efficient scanning system 1 provided with which a field of eg 100x1000 pixels can be scanned. Here, the actually scanned field depends on the distance of the objects to be scanned 3 or the distance between the scanning device 5 and object 3 and from a deflection angle or deflection angles of the mirror 22 or the pivoting plate 21 with respect to the first axis and / or the second axis. According to the invention, the deflection angle or the deflection angles preferably determine a field of view of the scanning system 1 in which the scanning movement of the primary beam 9 is carried out. The scanning device is preferred 5 for performing a scanning movement of the primary beam 9 in the field of view of the scanning system 1 educated.
  • Also, the scanning device 5 preferably configured such that during each pixel successively or per pixel stepwise transistors 31 . 31 '; 31 " . 31 "' . 31 "" , for example ten transistors 31 . 31 '; 31 " . 31 "' . 31 "" , be switched. As a result, the array of capacitances is preferred 29 . 29 ' . 29 " . 29 '' . 29 "" or the array of resistors gradually activated. Preferably, the resistors of the array of resistors are switched on stepwise such that the total resistance of the array of resistors continuously changes. In this case, it is preferably provided that the read-out does not take place as a frequency change of the resonant circuit, but rather over the different damping of a resistor which remains constant in frequency, in particular for each pixel. In addition, the clock frequency of the pixels is preferably 1 MHz. In other words, preferably 10 6 pixels are scanned in one second, or, for example, during a total scan time of 0.1 second 100 000 Scanned pixels. For example, the scanning device 5 configured such that a stepwise capacity increase or decrease of the array of capacitances 29 . 29 ' . 29 " . 29 "' . 29 "" or a resistance increase or decrease of the array of resistors is performed. Particularly preferably, the stepwise capacity increase or decrease or the resistance increase or decrease in a period of 0.000001 s (seconds) and 0.001 ms (milliseconds) is performed. Preferably, the 10 transistors are switched at uniform time intervals during the 0.000001 s (seconds). The frequency of the transistor circuit is in this case preferably 10 MHz. In this case, an increase in the clock frequency of the pixels preferably causes an increase in the frequency of the transistor circuit and / or the frequency of the readout times 301 . 301 ' . 301 ' ,
  • The clock frequency of the transistor circuits (the frequency of the transistor circuit), and thus the clock frequency of the capacitance and the resistance circuits (the activation of the array of capacitances 29 . 29 ' . 29 " . 29 '' . 29 "" or the array of resistors) is preferably a multiple of the pixel clock frequency (clock frequency of the pixels). For example, the pixel frequency is 1 MHz, in other words, 10 6 pixels are set in one second, which are distributed, for example, to an image field of 1000 × 1000 pixels. The clock frequency of the transistor circuit (the frequency of the transistor circuit) is preferably a multiple of the clock frequency of the pixels, for example 10 MHz. Each pixel has a resolution of 10 steps in this example, which corresponds to a depth resolution of 10 steps. In other words, the transistors 31 . 31 '; 31 " . 31 '' . 31 "" preferably switched ten times per pixel. A higher depth resolution is preferably achieved by increasing the transistor circuit frequency (frequency of the transistor circuit) in relation to the pixel clock frequency (clock frequency of the pixels). For example, the transistor circuit frequency (frequency of the transistor circuit) is 100MHz, while the pixel clock frequency (clock frequency of the pixels) is 1MHz. As a result, the depth resolution is advantageously increased to 100 steps.
  • Moreover, it preferably occurs depending on the distance of the object 3 or the objects from the scanner or between the scanning device 5 and object 3 at the diode 28 a phase-shifted pulse or secondary beam 11 sooner or later. In this case, the time of occurrence of the phase-shifted pulse or the secondary beam depends 11 preferably from the distance of the object from the scanning device or scanning device 5 from. This pulse or the secondary beam 11 is preferably used to interrupt the continuous capacity increase or decrease or the resistance increase or decrease such that a constant capacitance or a constant resistance is set. Preferably, the so set capacity or the like set resistance frozen or constant until the end of a pixel clock. Preference is given to a signal from the diode 28 a charging or discharging process of the capacities 29 . 29 ' . 29 " . 29 "' . 29 "" or the connection of resistors interrupted. In addition, the scanning device 5 preferably configured such that at the end of a pixel clock, the pixel or the capacity of the array of capacitances associated with the pixel 29 . 29 ' . 29 " . 29 '' . 29 "" or the resistor assigned to the pixel of the array of resistors is read out. Furthermore, the scanning device 5 preferably configured such that subsequently the transistors 31 . 31 '; 31 " . 31 "' . 31 "" be opened and a renewed stepwise switching of the transistors 31 . 31 '; 31 " . 31 "' . 31 "" , in particular during a pixel clock following the pixel clock, is performed.
  • The scanning device 5 preferably comprises a self-mixing electrode. Preferably, the self-mixing electrode generates at or immediately after the occurrence of the phase-shifted pulse or the secondary beam 11 at the diode 28 a voltage pulse. Preferably, the time of the voltage pulse or the generation of the voltage pulse of the self-mixing-electrode depends on the distance of the object 3 from the scanning device 5 from. Preferably, the voltage pulse is used to cancel the continuous increase in capacitance or resistance increase, preferably being read out at the end of a pixel clock.
  • In addition, the scanning system 1 preferably configured such that during a read-out phase of the external transmitting unit or of the transmitting and receiving device 7 an electromagnetic pulse 13 to the scanning device 5 is sent and the reaction of the transponder or the scanning device 5 or the LC resonant circuit of the scanning device 5 is detected.
  • In 4 is an example of the capacity increase or decrease 200 of the array from the capacities 29 . 29 ' . 29 " . 29 "' . 29 "" over time 300 shown. Also shows 4 an example of a gradual increase 201 . 201 ' . 201 ' the capacity of the array from the capacities 29 . 29 ' . 29 " . 29 '' . 29 "" , Furthermore, example, phase-shifted secondary beams 11 . 11 ' . 11 " as well as total capacities frozen in the respective pixel 202 . 202 ' . 202 ' as a result of the activated individual capacities 29 . 29 ' . 29 " . 29 "' . 29 "" of the total array of all capacitances or the array of the capacitances 29 . 29 ' . 29 " . 29 '' . 29 "" shown. Also shows 4 exemplary readout phases or readout times 301 . 301 ' . 301 ' , The scanning system is preferred 1 configured so that every pixel 401 . 401 ' . 401 ' each a primary beam 9 the primary rays 9 . 9 ' . 9 " , one secondary beam each 11 the secondary rays 11 , 11 ', 11 ", each with a constant capacity 202 the constantly adjusted capacities 202 . 202 ' . 202 ' and in each case one readout phase or a readout time 301 the readout phases or readout times 301 . 301 ' , 301 ", thus a scanning system is preferred 1 provided with which the pixelwise changing and freezing of the capacity 200 of the LC circuit is enabled. In each case, a value of the time-continuously changing capacitance is preferred by the distance-dependent signal of a photodiode (VCSEL) of the scanning device 5 frozen or kept constant. In addition, the frequency or the attenuation of the frequency-constant LC resonant circuit is preferably queried pixel by pixel.
  • Furthermore, it is preferably provided that the scanning system 1 is configured to perform different methods of distance measurement, in particular a laser self mixing distance measurements or a laser self-mixing distance measurement, preferably in the cm range, a Tof or Time of Flight method, preferably in the m range, particularly preferably in> 10m Or more than 10 m range, a three-electrode DBR laser method, preferably in the mm range, a LaserPhasenverschiebungsmeßverfahrens, preferably in the <mm range or in the smaller than mm range and / or an interference method. Particularly preferably, the scanning device comprises 5 for generating the primary beam 9 a DBR laser 28 ,
  • Furthermore, it is preferably provided that the scanning device 5 comprises an electrochemical energy store. The electrochemical energy store is preferably a coin cell, particularly preferably a millimeter-sized one. Furthermore, the electrochemical energy store is preferably a, in particular replaceable, battery or a rechargeable battery or rechargeable battery. In addition, the electrochemical energy store preferably forms a mechanical carrier of the permanent magnet 17 and / or the coil 19 and / or the frame 23 and / or the pivoting plate 21 and / or the micromirror 22 , This advantageously makes it possible that in the event that not all energy can be supplied to the system or that not all of the scanning device 5 required electrical energy without contact from the transmitting and receiving unit 7 on the scanning device 5 can be transferred, but still enough energy for the operation of the scanning device 5 can be provided. This will result in a scan system optimized for minimal power consumption 1 provided.
  • An only slightly optimized wireless scanning system 1 or scanning device 5 preferably comprises a battery (rechargeable battery), a mirror 22 , an electronics to control the mirror 22 , a diode 28 for distance measurement, an electronics for Evaluation of the distance measurement, a transmitting and receiving device and an antenna for transmitting and receiving.
  • It also includes a partially optimized wireless scanning system 1 or scanning device 5 preferably a transponder element in which the coil 19 of the mirror 22 is formed as part of a variable LC circuit. Here is the scan system 1 or the scanning device 5 preferably configured such that the battery has no power for wirelessly transmitting and receiving data from the scanning device 5 to the transmitting and receiving device 7 supplies or has to provide.
  • Furthermore, a wireless scanning system optimized in terms of power consumption and size includes 1 or scanning device 5 prefers a mirror 22 , a diode 28 for distance detection and electronics for translating the measured distance into a capacitance or resistance value of the LC resonant circuit. The scanning system is preferred 1 or the scanning device 5 configured so that the necessary energy to operate the electronics and the diode 28 or laser diode 28 the system by magnetic pulses from the outside, in particular from the transmitting and receiving device 7 is supplied. Preferably, the actual scanner unit or the scanning device comprises 5 no own power supply.
  • In addition, it is preferably provided that between the partially optimized wireless scanning system 1 and the optimized in terms of power consumption and size wireless scanning system 1 Intermediate solutions find applications in which parts of the electronics or the laser diode are operated by an internal battery, for example in the event that the desired inductances are too slow for desired high frequencies.
  • In addition, the coil is preferred 19 used to the system or the scanning device 5 to provide energy. In other words, the scanning system 1 preferably designed such that electrical energy without contact from the transmitting and receiving unit 7 on the spool 19 the scanning device 5 is transmitted. Electrical energy is particularly preferably non-contact from the transmitting and receiving unit 7 on the spool 19 the scanning device 5 for the power supply of the diode 28 or a laser of the scanning device 5 and an evaluation of the scanning device 5 transfer.
  • Particularly preferred is a high-frequency signal, in particular for the time-varying magnetic field 13 , used to power the electronics of the scanning device 5, the signal being no mechanical modes of the pivotable plate 21 or the micromirror 22 stimulates. Here, the frequency preferably corresponds to the pixel clock or the clock at which the transistors 31 , 31 '; 31 ", 31"', 31 "" are switched. Furthermore, the pixel clock is, for example, 1 MHz, a step of 10 capacitances is used and the exciting frequency, in particular the frequency of the time-varying magnetic field 13 , is 10MHz (neglecting the readout time). At these higher frequencies, especially the frequencies that are greater than the frequency of the pixel clock, the scanning device is 5 preferably configured such that the mirror coil or the coil 19 operates as an electric generator or generates an electrical alternating voltage. It is preferably provided that the generated AC voltage is used to operate the electronic evaluation.
  • Furthermore, the scan system 1 preferably configured such that a stimulating frequency, in particular the frequency of the time-varying magnetic field 13 , 10Hz or 100Hz is to the mirror 22 or the pivoting plate 21 stimulate resonantly. Preferably, the mirror is advantageous at these frequencies 22 or the pivoting plate 21 operated as a mechanical engine.
  • Besides, the scanning system is 1 preferably configured such that the exciting frequencies or the time-varying magnetic field 13 Sinusoidal and / or square-wave pulses comprises. In particular, the stimulating frequencies or comprises the time-varying magnetic field 13 a frequency spectrum, wherein the frequency spectrum comprises one or more frequencies. Particularly preferred is the coil 19 operated at different frequencies. It is preferably provided that the coil 19 operated simultaneously as a mechanical motor and as an electric generator, wherein a plurality of frequencies, in particular of the time-varying magnetic field 13 , For example, superimposed as sinusoids. In addition, it is preferably provided that the coil 19 is operated successively as a mechanical motor and as an electric generator, wherein a plurality of frequencies, in particular of the time-varying magnetic field 13 , as rectangular pulses with the corresponding frequencies are serially clocked.
  • In 5 is an example of a magnetic field 400 over time 300 applied, wherein at least a part of the temporally variant magnetic field 13 or a magnetic pulse is shown. Here, the time-varying magnetic field includes 13 a rectangular pulse, where the total spectrum of the time-varying magnetic field 13 is dominated by or from two frequencies or in particular comprises two frequencies.
  • 6 shows an exemplary embodiment of the scanning device 5 of the scan system 1 , wherein the scanning device 5 a powered micromirror 22 includes. Here is the coil 19 , in particular together with the micromirror 22 , preferably on the movable structure or on the micromirror 22 or on the hinged plate 21 arranged. The static magnetic field 15 or the B-field is generated (externally), preferably by a permanent magnet 17 and another permanent magnet 18 , By variation of the coil current 20 or the electric current 20 becomes a variable tilting of the swiveling plate 21 or the micromirror 22 generated. In this case, the electric current is preferred 20 through the time-varying magnetic field 13 induced. Preferably, alternatively or additionally, the electric current 20 provided by the electrochemical energy store.
  • The scanning system is preferred 1 formed such that by an interaction between the time-varying magnetic field 13 and a static magnetic field 15 of the permanent magnet 17 a force on the permanent magnet 17 acts. The scanning system is preferred 1 in particular designed such that the scanning movement through the on the permanent magnet 17 acting force is performed. The scanning device preferably comprises 5 a powered micromirror 22 , In this case, the permanent magnet 17 and the further permanent magnet are preferred 18 together with the micromirror 22 on the hinged plate 21 or on the movable structure of the scanning device 5 arranged. By an external electromagnet, a magnetic field is varied or is the time-varying magnetic field 13 provided, whereby a torque on the permanent magnet 17 and on the other permanent magnet 18 exerted and thus the torque corresponding forces on the pivoting plate 21 Act. In this case, the coil is preferred 19 as in 6 arranged. Preferably, the coil is used here 19 only for energy input or as a generator at higher frequencies and not for mechanical tilting of the pivoting plate 21 ,
  • According to the invention, the in 6 shown scanning device 5 a coil 19 where the coil 19 is preferably used for data transmission and energy input. Besides, the coil is 19 preferably firmly on the housing of the mirror 22 , preferably on the pivoting plate 21 , fixed on or in the frame 23 arranged (see 7 and 8th ). Particularly preferred is the coil 19 as part of a transmitter for sending signals from the scanning device 5 to the transmitting and receiving device 7 used. More preferably, the in 6 shown scanning device 5 the permanent magnet 17 and / or the further permanent magnet 18 , wherein the permanent magnet 17 and / or the further permanent magnet 18 is used by an external magnetic field to the mirror 22 or the scanning device 5 to position and / or rotate. This advantageously allows the mirror 22 or the scanning device 5 is alignable in an external magnetic field, wherein the external magnetic field is preferably a static magnetic field or an alternating "quasi-static" magnetic field of a first low frequency. The external magnetic field is preferred outside the scanning device 5 generated. As the scanner or the scanning device 5 For example, in a liquid represents an inert mass, it is provided that the alignment takes place at intervals of several seconds. In this case, the external magnetic field is preferably a "quasistatic" field, wherein the "quasi-static" field varies in time with a very low frequency, for example at a rate of> 10 seconds.
  • 7 shows a further embodiment of the scanning system according to the invention 1 , wherein the scanning device 5 a third permanent magnet 17 ' and a fourth permanent magnet 18 ' includes. In addition, the scanning device includes 5 next to the opposite the frame 23 around the pivot axis 25 swiveling plate 21 , which are preferred as a further framework 21 is formed, one opposite the pivoting plate 21 around the other pivot axis 27 swiveling another swiveling plate 24 , Here, the micromirror is preferred 22 on the further hinged plate 24 arranged. Preferred is another coil 26 the scanning device 5 on the further hinged plate 24 impressed. Preferably, the further pivotable plate 24 in one of the third permanent magnet 17 ' and the fourth permanent magnet 18 ' generated further static magnetic field 16 or in an overlap of the static magnetic field 15 and the further static magnetic field 16 arranged. The overlap of the static magnetic field 15 and the further static magnetic field 16 preferably forms a 45 ° angle extending magnetic field, wherein the magnetic field through the permanent magnet 17, the further permanent magnet 18 , the third permanent magnet 17 ' and the fourth permanent magnet 18 ' is produced. The permanent magnet is preferred 17 , the further permanent magnet 18 , the third permanent magnet 17 ' and the fourth permanent magnet 18 ' each on four opposite sides of the scanning device 5 arranged. The two tracks or the coil 19 and the other coil 26 , which run on the two frames of the gimbal or on the pivoting plate 21 and on the other hinged plate 24 are arranged, learn a required for the generation of the Lorentz force component of the magnetic field of 1 / root (2).
  • In addition, the time-varying magnetic field includes 13 a frequency spectrum which Frequencies corresponding to the natural resonances of the two oscillation axes or the first pivot axis 25 and the other pivot axis 27 includes. This advantageously allows vibrations of the micromirror 22 or the further pivotable plate 24 relative to the frame 23 resonantly excited. Thus, a scanning system according to the invention 1 provided with two usable axes or a 2D scanner. The frequency spectrum preferably comprises further frequencies, which are preferably greater than the frequencies of the natural resonances. It is preferably provided that the coil 19 and the further coil 26 are used as generators to generate electrical energy with which the electronics of the scanning device 5 is driven.
  • Preferably, the further pivotable plate 24 and the more static magnetic field 16 arranged to each other such that a main extension plane of the further pivotable plate 24 and a main direction of the further static magnetic field 16 lie within a plane. In addition, the main direction of the further static magnetic field 16 preferably perpendicular to the further pivot axis 27 arranged. A main direction of the time-varying magnetic field 13 (dB / dt) is preferably perpendicular to the further pivotable plate 24 arranged. In this case, the time-variant magnetic field preferably induces 13 in or on the further pivotable plate 24 arranged another coil 26 another electric current 30 , prefers a further alternating electric current or a further electric current 30 with a time-varying current intensity or current density (dJ / dt), wherein the further electric current 30 in the other coil 26 , which in the further static magnetic field 16 is arranged, by Lorentz force to a tilting or pivoting of the further pivotable plate 24 leads. In other words, that in the further static magnetic field 16 arranged another coil 26 tilted or tilted by a current, which by a perpendicular to the other coil 26 and perpendicular to the further pivotable plate 24 or perpendicular to the further static magnetic field 16 arranged changing magnetic field or time-variant magnetic field 13 is induced.
  • In 8th is another inventive embodiment of the scanning device 5 shown, wherein the diode 28 placed directly on the gimbal-wielding system or on the other hinged plate 24 is arranged. Preferred is a gimbaled diode 28 for distance determination with two coils 19 . 26 provided, with the resonance of the two axes 25 . 27 is different. Both resonances are preferred by an external magnetic field changing with corresponding frequencies or the time-varying magnetic field 13 stimulated. Thus, a particularly space-saving and weight-saving scanning system 1 provided, as opposed to the use of a micromirror 22 and a diode 28 for detecting the location-dependent distance of objects, the micromirrors 22 eliminated.
  • Furthermore, it is preferably provided that the scanning device 5 additional or alternative to the time-varying magnetic field 13 is operated with a second temporally variant magnetic field, wherein the frequency of the second temporally variant magnetic field of the mechanical resonance of the pivot axis 25 equivalent. Furthermore, it is preferably provided that the scanning device 5 additional or alternative to the time-varying magnetic field 13 is operated with a third temporally variant magnetic field, wherein the frequency of the third temporally variant magnetic field of the mechanical resonance of the further pivot axis 27 equivalent. In addition, it is preferably provided that the coil 19 additionally or alternatively to the temporally variant magnetic field 13 is operated with a fourth time-varying magnetic field having a fourth frequency for generating an electrical alternating voltage, wherein with the electrical alternating voltage an electrical evaluation circuit of the scanning device 5 or a transmitting device of the scanning device 5 is fed. In addition, it is preferably provided that the fourth induced by the magnetic field frequency is used as clock for the pixel clock.
  • In 9 is a schematic representation of a method for operating a scanning system 1 according to an exemplary embodiment of the present invention. This is in a first step 101 from the scanning device 5 of the scan system 1 a primary beam 9 generated. In a second process step 102 is from the scanning device 5 one by an interaction of the primary beam 9 with the object 3 generated secondary beam 11 detected. It is preferred in the second method step 102 the secondary beam 11 a first pixel 401 detected. Furthermore, in a third process step 103 from the scanning device 5 a scanning movement of the primary beam 9 performed, wherein for controlling the scanning movement, a time-variant magnetic field 13 from the transmitting and receiving device 7 is produced. Preferably, during the scanning movement, the primary beam is at least partially interrupted or by the scanning device 5 not generated. Time after the third step 103 will be for another pixel 401 ' the first process step 101 and the second process step 102 performed using either the primary beam 9 (using a continuous primary beam) or another primary beam 9 ' is generated and another secondary beam 11 the further pixel 401 ' is detected. In addition, the third method step is preferred 103 carried out again, so that another first step 101 and another second process step 102 for a third pixel 401 ' can be carried out. Thus, an iterative method is provided, which is in 9 is indicated by a dashed arrow.
  • 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 102013219567 A1 [0003]
    • DE 102014207893 [0003]
    • WO 2011053616 A2 [0003]
    • DE 3922556 [0004]
    • US 2012281330 [0004]
    • US 20090275800 [0004]
    • WO 2014047205 [0004]
    • WO 2008022842 [0004]
    • WO 2006120061 [0004]

Claims (11)

  1. Scanning system (1) for scanning an object (3), the scanning system (1) comprising a scanning device (5) and a transmitting and receiving device (7), the scanning device (5) being designed to generate a primary beam (9), wherein the scanning device (5) for performing a scanning movement of the primary beam (9) is formed, wherein the scanning device (5) for detecting a by an interaction of the primary beam (9) produced by the object (3) the secondary beam (11) is formed, characterized in that the scanning system (1) is designed in such a way that a time-variant magnetic field (13) is generated by the transmitting and receiving device (7) in order to control the scanning movement.
  2. Scan system (1) after Claim 1 , wherein the scanning system (1) is designed such that electrical energy is transmitted without contact from the transmitting and receiving device (7) to the scanning device (5).
  3. Scanning system (1) according to one of the preceding claims, wherein the scanning device (5) in a static magnetic field (15) of a permanent magnet (17) of the scanning device (5) arranged coil (19), wherein the scanning system (1) is formed in that the temporally variant magnetic field (13) induces an electrical current (20) in the coil (19) and acts on the coil (19) by an interaction between the electrical current (20) and the static magnetic field (15). wherein the scanning system (1) is designed in particular such that the scanning movement is performed by the force acting on the coil (19).
  4. Scanning system (1) according to one of the preceding claims, wherein the scanning device (5) comprises a permanent magnet (17), wherein the scanning system (1) is designed such that an interaction between the time-variant magnetic field (13) and a static magnetic field ( 15) of the permanent magnet (17) acts on the permanent magnet (17), wherein the scanning system (1) is designed in particular such that the scanning movement is performed by the force acting on the permanent magnet (17).
  5. Scanning device (5) of a scanning system (1) according to one of the preceding claims.
  6. Transmitting and receiving device (7) of a scanning system (1) according to one of Claims 1 to 4 ,
  7. Use of a scanning device (5) and / or a transmitting and receiving device (7) according to one of the preceding claims as a transponder.
  8. Method for operating a scanning system (1) according to one of Claims 1 to 4 in that a primary beam (9) is generated by the scanning device (5) of the scanning system (1), wherein a scan movement of the primary beam (9) is carried out by the scanning device (5), the scan device (5) being activated by an interaction of the scanning device (5) Primary beam (9) with the object (3) generated secondary beam (11) is detected, characterized in that for controlling the scanning movement, a time-variant magnetic field (13) of the transmitting and receiving device (7) is generated.
  9. Method according to Claim 7 , wherein electrical energy is transmitted without contact from the transmitting and receiving device (7) to the scanning device (5).
  10. Method according to one of Claims 7 and 8th , wherein from the time-varying magnetic field (13) in an in a static magnetic field (15) of a permanent magnet (17) of the scanning device (5) arranged coil (19) of the scanning device (5) an electrical current (20) is induced and by a Interaction between the electric current (20) and the static magnetic field (15) a force acting on the coil (19), wherein in particular the scanning movement is performed by the force acting on the coil (19) force.
  11. Method according to one of Claims 7 . 8th and 9 , wherein an interaction between the time-varying magnetic field (13) and a static magnetic field (15) of a permanent magnet (17) of the scanning device (5) a force on the permanent magnet (17) acts, in particular the scanning movement through which on the permanent magnet ( 17) acting force is performed.
DE102017200721.4A 2017-01-18 2017-01-18 Scanning system, scanning device, transmitting and receiving device and method Pending DE102017200721A1 (en)

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3922556A1 (en) 1989-07-08 1991-01-17 Gabriele Manner Contactless sensor terminal
WO2006120061A1 (en) 2005-05-10 2006-11-16 Robert Bosch Gmbh Modular component assembly and its method of use
WO2008022842A1 (en) 2006-08-21 2008-02-28 Robert Bosch Gmbh Tyre sensor module and method for its production
US20090275800A1 (en) 2008-05-01 2009-11-05 Zeiner Mark S Camera for positioning in the pylorus during bariatric procedures
WO2011053616A2 (en) 2009-10-30 2011-05-05 Microvision, Inc. Three dimensional imaging device, system, and method
US20120281330A1 (en) 2009-09-11 2012-11-08 Eidengossische Technische Hochschule Zurich ETH Transfer Magnetic Manipulation and Navigation System for a Magnetic Element
WO2014047205A1 (en) 2012-09-21 2014-03-27 Proteus Digital Health, Inc. Wireless wearable apparatus, system, and method
DE102013219567A1 (en) 2013-09-27 2015-04-02 Robert Bosch Gmbh Method for controlling a micromirror scanner and micromirror scanner
DE102014207893A1 (en) 2014-04-28 2015-10-29 Robert Bosch Gmbh 3D laser scanner

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3922556A1 (en) 1989-07-08 1991-01-17 Gabriele Manner Contactless sensor terminal
WO2006120061A1 (en) 2005-05-10 2006-11-16 Robert Bosch Gmbh Modular component assembly and its method of use
WO2008022842A1 (en) 2006-08-21 2008-02-28 Robert Bosch Gmbh Tyre sensor module and method for its production
US20090275800A1 (en) 2008-05-01 2009-11-05 Zeiner Mark S Camera for positioning in the pylorus during bariatric procedures
US20120281330A1 (en) 2009-09-11 2012-11-08 Eidengossische Technische Hochschule Zurich ETH Transfer Magnetic Manipulation and Navigation System for a Magnetic Element
WO2011053616A2 (en) 2009-10-30 2011-05-05 Microvision, Inc. Three dimensional imaging device, system, and method
WO2014047205A1 (en) 2012-09-21 2014-03-27 Proteus Digital Health, Inc. Wireless wearable apparatus, system, and method
DE102013219567A1 (en) 2013-09-27 2015-04-02 Robert Bosch Gmbh Method for controlling a micromirror scanner and micromirror scanner
DE102014207893A1 (en) 2014-04-28 2015-10-29 Robert Bosch Gmbh 3D laser scanner

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