DE19757849B4 - Scanner and device for the optical detection of obstacles and their use - Google Patents

Scanner and device for the optical detection of obstacles and their use Download PDF

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Publication number
DE19757849B4
DE19757849B4 DE19757849A DE19757849A DE19757849B4 DE 19757849 B4 DE19757849 B4 DE 19757849B4 DE 19757849 A DE19757849 A DE 19757849A DE 19757849 A DE19757849 A DE 19757849A DE 19757849 B4 DE19757849 B4 DE 19757849B4
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Prior art keywords
scanner
radiation receiver
axis
scanner according
light pulses
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DE19757849A1 (en
DE19757849C5 (en
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Johann F. Dipl.-Phys. Hipp
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Sick AG
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Sick AG
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Scanner mit einer Sendeeinrichtung, die einen kollimierten Strahl von Lichtimpulsen erzeugt und in einen Überwachungssektor emittiert, und einem Strahlungsempfänger, der aus dem Überwachungssektor reflektierte Lichtimpulse empfängt, wobei der Scanner den Strahl und die Blickrichtung des Strahlungsempfängers gemeinsam umlaufend bewegt, dadurch gekennzeichnet, daß die Sendeeinrichtung (11, 23a bis 23d) und der Strahlungsempfänger (16, 24) um eine Achse (14, 22) drehbar gelagert sind und ein Drehantrieb für die Sendeeinrichtung (11, 23a bis 23d) und den Strahlungsempfänger (16, 24) vorgesehen ist, und daß die Sendeeinrichtung (16, 23a bis 23d) von dem Scanner direkt abstrahlend angeordnet ist.scanner with a transmitter that emits a collimated beam of light pulses generated and in a surveillance sector emitted, and a radiation receiver, which comes from the surveillance sector receives reflected light pulses, the scanner sharing the beam and the line of sight of the radiation receiver moved circumferentially, characterized in that the transmitting device (11, 23a to 23d) and the radiation receiver (16, 24) about an axis (14, 22) are rotatably mounted and a rotary drive for the transmitting device (11, 23a to 23d) and the radiation receiver (16, 24) is provided, and that the Transmitting device (16, 23a to 23d) emitting directly from the scanner is arranged.

Figure 00000001
Figure 00000001

Description

Die Erfindung bezieht sich auf einen Scanner nach dem Oberbegriff des Anspruches 1, sowie auf eine Vorrichtung nach dein Anspruch 6 und eine Verwendung dieser Vorrichtung.The Invention relates to a scanner according to the preamble of Claim 1, and on a device according to your claim 6 and use of this device.

Gattungsgemäße Scanner werden insbesondere in Vorrichtungen zur Erkennung von Objekten innerhalb z.B. eines Überwachungssektors vor Fahrzeugen eingesetzt. Geeignete Scanner bzw. damit ausgerüstete Vorrichtungen sind z.B. aus der DE 38 21 892 C1 , der DE 41 15 747 A1 und der DE 195 30 281.8 A1 bekannt geworden. Der bekannte Scanner weist eine Sendeeinrichtung auf, die einen kollimierten Strahl von Lichtimpulsen erzeugt. Der Strahl wird von dein Scanner in wiederholten Durchläufen im Überwachungssektor verschwenkt und tastet dabei die Oberflächen von im Überwachungssektor befindlichen Objekten ab. In dem Scanner ist weiterhin ein Empfänger vorgesehen, der aus dem Überwa chungssektor reflektierte Lichtimpulse einpfängt. Mittels einer Auswerteeinrichtung, die entweder im Scanner oder in der mit dem Scanner ausgerüsteten Vorrichtung enthalten ist, werden aus Winkel und Laufzeit der Impulse relative Raumkoordinaten an Objekten im Überwachungssektor bestimmt und gegebenenfalls zur Erzeugung von Steuerdaten oder zur Objekterkennung ausgewertet.Generic scanners are used in particular in devices for detecting objects within, for example, a surveillance sector in front of vehicles. Suitable scanners or devices equipped with them are, for example, from the DE 38 21 892 C1 , the DE 41 15 747 A1 and the DE 195 30 281.8 A1 known. The known scanner has a transmission device that generates a collimated beam of light pulses. The scanner sweeps the beam in repeated passes in the surveillance sector and scans the surfaces of objects in the surveillance sector. In the scanner, a receiver is also provided, which captures light pulses reflected from the monitoring sector. By means of an evaluation device, which is contained either in the scanner or in the device equipped with the scanner, relative spatial coordinates of objects in the surveillance sector are determined from the angle and propagation time of the pulses and, if necessary, evaluated for generating control data or for object recognition.

Bei gattungsgemäßen Scannern ist die Sendeeinrichtung ortsfest angeordnet. Zur gewünschten Verschwenkung des Strahles ist im Abstrahlweg ein drehbar gelagertes Prisma bzw: Spiegel angeordnet, mit dein der Strahl in gewünschter Weise verschwenkt bzw. auch umlaufend bewegt werden kann. Nachteilig an der bekannten Konstruktion ist, daß diese relativ groß baut und wartungsintensiv ist.at generic scanners the transmitter is arranged in a fixed position. For the desired pivoting of the beam is a rotatable prism in the beam path or: Arranged mirror with which the beam is pivoted in the desired manner or can also be moved circumferentially. A disadvantage of the known construction is that this builds relatively large and is maintenance-intensive.

Aufgabe der Erfindung ist es daher, einen Scanner für die genannten Vorrichtung zur optischen Erfassung von Objekten zu schaffen, bei dein der umlaufende Strahl auf einfachere und kostengünstigere Weise erzeugt wird.task The invention is therefore a scanner for the device mentioned to create the optical detection of objects, for which the rotating one Beam is generated in a simpler and cheaper way.

Gelöst wird die Aufgabe mit einem Scanner gemäß Anspruch 1 und einer Vorrichtung gemäß Anspruch 6.Is solved the task with a scanner according to claim 1 and a device according to claim 6th

Es ist vorgesehen, daß die Sendeeinrichtung und der Strahlungsempfänger um eine Achse drehbar gelagert sind, ein Drehantrieb vorgesehen ist, der die Sendeeinrichtung und den Strahlungsempfänger in einem gewünschten Winkelbereich verschwenkt bzw. mit gewünschter Geschwindigkeit kontinuierlich rotiert und dass die Sendeeinrichtung von dem Scanner direkt abstrahlend angeordnet ist. Der Antrieb kann z.B. ein üblicher Elektromotor aber auch jede andere für einen Drehantrieb geeignete Einrichtung sein.It it is envisaged that the Transmitter and the radiation receiver rotatable about an axis are stored, a rotary drive is provided, which is the transmitting device and the radiation receiver in a desired one Angular range swiveled or rotated continuously at the desired speed and that the transmitter emits directly from the scanner is arranged. The drive can e.g. a common electric motor too each other for a rotary drive suitable device.

Der Scanner kann mit optischen Impulsen aller Art arbeiten. Vorzugsweise wird mit Lichtimpulsen eines Lasers gearbeitet. Es lassen sich aber auch andersartige Lichtimpulse verwenden, sofern der Strahl zu geeigneter Auflösung kollimierbar, also als eng gebündelter Strahl aussendbar ist.The Scanner can work with all kinds of optical impulses. Preferably is worked with light pulses from a laser. But it can be also use different types of light pulses, provided the beam is more suitable resolution collimatable, i.e. as a tightly bundled one Beam can be emitted.

Ein wesentlicher Vorteil ist, daß der erfindungsgemäße Scanner konstruktiv einfach und in kleiner Baugröße verwirklicht werden kann.On The main advantage is that the scanner according to the invention structurally simple and can be realized in a small size.

Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.advantageous Embodiments of the invention are specified in the subclaims.

Danach ist vorgesehen, daß der Scanner mehrere beabstandete Sendeeinrichtungen aufweist, die um eine gemeinsame Drehachse bewegt werden können. Auf diese Weise läßt sich pro Umlauf ein größerer Bereich des Überwachungssektors abdecken. Besonders vorteilhaft, insbesondere im Hinblick auf eine einfache Auswertung, sind die Sendeeinrichtungen untereinander in einer Reihe parallel zur Drehachse angeordnet, wobei ihre Strahlen im wesentlichen in einer gemeinsamen Ebene liegen. Mit einem solchen Scanner läßt sich in einfacher Weise ein Überwachungssektor in einem gewünschten Raumwinkel abtasten und auswerten. Man kann also in einfacher Weise mit diesen Ausgestaltungen ein 3D-"Entfernungs"-Bild des gewünschten Überwachungssektors erhalten.After that it is envisaged that the Scanner has multiple spaced transmitters around a common axis of rotation can be moved. In this way a larger area per circulation of the surveillance sector cover. Particularly advantageous, especially with regard to a simple evaluation, the transmission facilities are in with each other a row arranged parallel to the axis of rotation, its rays essentially lie in a common plane. With one Scanner can be a surveillance sector in a simple way in a desired one Scan and evaluate solid angle. So you can easily receive a 3D "distance" image of the desired surveillance sector with these configurations.

In dein Scanner ist ein Strahlungsempfänger vorgesehen. Zur Erhöhung der Auswertegeschwindigkeit können aber auch mehrere Empfänger vorgesehen werden, die jeweils örtlichen Bereiche der reflektierten Impulsstrahlung zugeordnet sind und die z.B. parallel ausgelesen werden.In Your scanner is designed to be a radiation receiver. To increase the Evaluation speed can but also several recipients be provided, each local Areas of the reflected impulse radiation are assigned and which e.g. can be read out in parallel.

Die Erfindung betrifft weiterhin eine Vorrichtung, die mit einem erfindungsgemäßen Scanner arbeitet. Eine solche Vorrichtung kann z.B. insbesondere in Verbindung mit Fahrzeugen zur Hinderniserkennung, Objektauswertung bzw auch zur Regelung der Einstellung der optischen Achse des Scheinwerfers relativ zum Fahrzeug und zur Fahrbahnoberfläche eingesetzt werden. In aller Regel enthält eine derartige Vorrichtung einen oder mehrere erfindungsgemäße Scanner, die außen an der Karosserie bzw auch im Scheinwerfergehäuse angeordnet werden können und die mit einer Auswerteeinrichtung zur entsprechenden Datenverarbeitung kombiniert sind.The The invention further relates to a device with a scanner according to the invention is working. Such a device can e.g. especially in connection with vehicles for obstacle detection, object evaluation or to control the adjustment of the optical axis of the headlamp relative to the vehicle and the road surface. In all Rule contains such a device one or more scanners according to the invention, the outside can be arranged on the body or in the headlight housing and with an evaluation device for the corresponding data processing are combined.

Im folgenden soll die Erfindung an Hand mehrerer Abbildungen im Detail erläutert werden:The following is intended to illustrate the invention several illustrations are explained in detail:

1 zeigt eine Ausführungsform eines Scanners mit rotierbarer Sendeeinrichtung, 1 shows an embodiment of a scanner with rotatable transmission device,

In 1 erkennt man einen Scanner 10, der eine Sendeeinrichtung 11 aufweist, die einen eng fokussierten Strahl von Lichtimpulsen 12 erzeugt. Die Sendeeinrichtung 11 ist in einem Hauptkörper 13 vorgesehen, der drehbar um eine Achse 14 an einer Basis 15 gelagert aufgenommen ist. In der Basis 15 kann ein nicht dargestellter Drehantrieb für den Hauptkörper 13 vorgesehen sein. Auf der äußeren Oberfläche des Hauptkörpers 13 ist im Bereich der Sendeeinrichtung 11 ein Lichteinpfänger 16 vorgesehen. Der Lichtempfänger empfängt aus dem nicht dargestellten Überwachungssektor reflektierte Lichtimpulse. Aus Abstrahlwinkel der Sendeeinrichtung 11 sowie Laufzeit des betreffenden Impulses nach Absendung bis zum Empfang auf dem Lichtempfänger 16 können in einer geeigneten Auswerteeinrichtung für jeden gesendeten Impuls die Raumkoordinaten des Reflektionspunktes im Überwachungssektor bestimmt werden. Aus den in einem Umlauf gewonnenen Raumkoordinaten für die Reflektionspunkte kann in einfacher Weise ein Profil von im Überwachungssektor abgetasteten Objekten ermittelt werden und einer weiteren Auswertung zugrunde gelegt werden. So kann z.B. die zeitabhängige Veränderung der jeweils pro Umlauf ermittelten Oberflächen profile (z.B. bei Annäherung an ein bzw. Entfernen von einem Objekt) zur Erzeugung von Steuerdaten eingesetzt werden.In 1 you can see a scanner 10 , which is a transmitter 11 has a narrowly focused beam of light pulses 12 generated. The sending device 11 is in a main body 13 provided which is rotatable about an axis 14 at a base 15 stored is recorded. In the base 15 can be a rotary actuator, not shown, for the main body 13 be provided. On the outer surface of the main body 13 is in the area of the transmitter 11 a light catcher 16 intended. The light receiver receives reflected light pulses from the surveillance sector, not shown. From the beam angle of the transmitter 11 as well as the duration of the pulse in question after it is sent until it is received on the light receiver 16 The spatial coordinates of the reflection point in the monitoring sector can be determined in a suitable evaluation device for each pulse transmitted. A profile of objects scanned in the surveillance sector can be determined in a simple manner from the spatial coordinates for the reflection points obtained in one revolution and used as a basis for a further evaluation. For example, the time-dependent change in the surface profiles determined per cycle (for example, when approaching or removing an object) can be used to generate control data.

Claims (7)

Scanner mit einer Sendeeinrichtung, die einen kollimierten Strahl von Lichtimpulsen erzeugt und in einen Überwachungssektor emittiert, und einem Strahlungsempfänger, der aus dem Überwachungssektor reflektierte Lichtimpulse empfängt, wobei der Scanner den Strahl und die Blickrichtung des Strahlungsempfängers gemeinsam umlaufend bewegt, dadurch gekennzeichnet, daß die Sendeeinrichtung (11, 23a bis 23d) und der Strahlungsempfänger (16, 24) um eine Achse (14, 22) drehbar gelagert sind und ein Drehantrieb für die Sendeeinrichtung (11, 23a bis 23d) und den Strahlungsempfänger (16, 24) vorgesehen ist, und daß die Sendeeinrichtung (16, 23a bis 23d) von dem Scanner direkt abstrahlend angeordnet ist.A scanner with a transmitter that generates a collimated beam of light pulses and emits them into a surveillance sector, and a radiation receiver that receives light pulses reflected from the surveillance sector, wherein the scanner rotates the beam and the viewing direction of the radiation receiver together in a rotating manner, characterized in that the transmitter device ( 11 . 23a to 23d ) and the radiation receiver ( 16 . 24 ) around an axis ( 14 . 22 ) are rotatably mounted and a rotary drive for the transmission device ( 11 . 23a to 23d ) and the radiation receiver ( 16 . 24 ) is provided and that the transmitting device ( 16 . 23a to 23d ) is directly emitted by the scanner. Scanner nach Anspruch 1, dadurch gekennzeichnet, daß er mehrere beabstandete Sendeeinrichtungen (23a bis 23d) aufweist, die synchron um eine Drehachse (22) drehbar sind.Scanner according to claim 1, characterized in that it has a plurality of spaced transmission devices ( 23a to 23d ) that is synchronous about an axis of rotation ( 22 ) are rotatable. Scanner nach Anspruch 1, dadurch gekennzeichnet, daß er mehrere Strahlungsempfänger, vorzugsweise Lichtempfänger aufweist.Scanner according to claim 1, characterized in that he several radiation receivers, preferably light receiver having. Scanner nach Anspruch 2, dadurch gekennzeichnet, daß die Sendeeinrichtungen (23a bis 23d) parallel zur Drehachse (22) in einer Reihe untereinander angeordnet sind.Scanner according to claim 2, characterized in that the transmission devices ( 23a to 23d ) parallel to the axis of rotation ( 22 ) are arranged in a row one below the other. Scanner nach Anspruch 4, dadurch gekennzeichnet, daß die von den Sendeeinrichtungen (23a bis 23d) erzeugten Strahlen im wesentlichen in einer gemeinsamen Ebene liegen.Scanner according to claim 4, characterized in that the transmission devices ( 23a to 23d ) generated rays lie essentially in a common plane. Vorrichtung zur optischen Erfassung von Hindernissen dadurch gekennzeichnet, daß sie einen Scanner nach den Ansprüchen 1 bis 5 und eine damit gekoppelte Auswerteeinrichtung aufweist.Device for the optical detection of obstacles characterized in that they a scanner according to the claims 1 to 5 and an evaluation device coupled therewith. Verwendung einer Vorrichtung nach Anspruch 6 als Fahrzeugsensor zur automatischen Steuerdatenerzeugung und/oder Objekterkennung und/oder Leuchtweitenregulierung.Use of a device according to claim 6 as Vehicle sensor for automatic control data generation and / or object recognition and / or headlight range control.
DE19757849A 1997-12-24 1997-12-24 Scanner and device for the optical detection of obstacles, and their use Expired - Lifetime DE19757849C5 (en)

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