DE202016105042U1 - Optoelectronic sensor - Google Patents

Optoelectronic sensor

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Publication number
DE202016105042U1
DE202016105042U1 DE202016105042.1U DE202016105042U DE202016105042U1 DE 202016105042 U1 DE202016105042 U1 DE 202016105042U1 DE 202016105042 U DE202016105042 U DE 202016105042U DE 202016105042 U1 DE202016105042 U1 DE 202016105042U1
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Germany
Prior art keywords
hood
sensor
support element
light
according
Prior art date
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Active
Application number
DE202016105042.1U
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German (de)
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Sick AG
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Sick AG
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Priority to DE202016105042.1U priority Critical patent/DE202016105042U1/en
Publication of DE202016105042U1 publication Critical patent/DE202016105042U1/en
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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
    • 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
    • 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
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/42Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S7/4811Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813Housing arrangements

Abstract

Optoelectronic sensor (10), in particular laser scanner, for detecting objects in a surveillance area (22), wherein the sensor (10) comprises a light transmitter (24) for emitting transmitted light (28), a drive (16), one with the aid of the drive (16) a movable scanning unit (12) for periodically scanning the transmitted light (28), a light receiver (34) for generating a received signal from objects (30) remitted by objects in the surveillance area (22), an evaluation unit (40) for detecting Information about objects in the surveillance area (22) based on the received signal and a housing (46) with a hood (48), wherein the hood (48) is additionally supported by a support element (54), characterized in that the drive (16 ) has a hollow shaft (18) and that the support element (54) through the hollow shaft (18) is guided.

Description

  • The invention relates to an optoelectronic sensor for detecting objects in a surveillance area according to the preamble of claim 1.
  • For distance measurements that require a large horizontal angle range of the measuring system, optoelectronic systems and especially laser scanners are suitable. In a laser scanner, a laser beam generated by a laser periodically sweeps over a monitoring area by means of a deflection unit. The light is remitted to objects in the surveillance area and evaluated in the scanner. From the angular position of the deflection is on the angular position of the object and from the light transit time using the speed of light in addition to the removal of the object from the laser scanner closed.
  • With the angle and distance indications, the location of an object in the surveillance area is recorded in two-dimensional polar coordinates. In this way, the positions of objects can be determined or, by means of several scans of the same object, determined at different points of its contour. The third spatial coordinate can also be detected by a relative movement in the transverse direction, for example by a further degree of freedom of movement of the deflection unit in the laser scanner or by the object being conveyed relative to the laser scanner. Thus, even three-dimensional contours can be measured.
  • In addition to such measuring applications, laser scanners are also used in security technology to monitor a source of danger, such as a dangerous machine. Such a safety laser scanner is from the DE 43 40 756 A1 known. A protective field is monitored, which must not be entered by the operating personnel during operation of the machine. If the laser scanner detects an inadmissible protective field intervention, for example a leg of an operator, it triggers an emergency stop of the machine. Sensors used in safety technology must work very reliably and therefore meet high safety requirements, such as the Standard EN13849 for machine safety and the Device standard EN61496 for non-contact protective devices (ESPE).
  • The scanning of the monitoring level in a laser scanner is usually achieved by the transmission beam impinging on a rotating rotating mirror. The light transmitter, light receiver as well as the associated electronics and optics are permanently mounted in the device and do not carry out the rotary motion. But it is also known to replace the rotating mirror by a co-moving scanning unit. For example, rotates in the DE 197 57 849 B4 the entire measuring head with light transmitter and light receiver. The EP 2 388 619 A1 also provides a rotatable transmitter / receiver unit. This scanning unit is powered, for example, according to the transformation principle of the non-rotatable regions of the sensor with energy.
  • 1 shows a schematic sectional view of a conventional laser scanner 100 with such a rotatable scanning unit 102 , The rotation is generated by the scanning unit 102 on a wave 104 a drive 106 sitting. On the structure of the laser scanner 100 , which basically corresponds to the introductory explanations, does not apply here.
  • The laser scanner 100 is from a housing 108 sheltered in the upper part of a dome 110 is formed. This hood 110 is one-piece and made of plastic. Especially with large dimensions of the laser scanner 100 and thus the hood 110 Due to the design, there is instability in the center of the hood, which behaves similarly to a loudspeaker diaphragm, as indicated by two arrows. Small forces are sufficient to cause a collision or a grinding of the hood 106 with rotating parts such as electronic cards or other components of the scanning unit or the shaft 104 to bring about yourself. This can even cause breakdowns, including equipment failure.
  • The hood 110 However, this can not be done as a countermeasure on the wave 104 be supported as the drive 106 with rotation frequencies of the order of 50Hz. In principle, the hood is conceivable 110 rotatably store. However, this is costly, and it is very difficult to achieve a stable support and a rotating rotational movement under tolerance criteria. For example, the DE 199 275 02 A1 or the DE 199 289 58 A1 Nevertheless, such a support before, where the design is very special and the problem of effort and tolerances is not addressed or solved.
  • In addition, the hood 110 is an optical component, you can not just stiffening ribs, supporting webs or the like inside the hood 110 Attach. In the manufacturing process, this would cause defects such as flow fronts or sink marks and thus an impairment of the measurement or limit the scanning range.
  • In addition to the described deflection especially at point load near the center of the hood center is another disadvantage of Hood 110 the low heat permeability of the plastic, which is why the inside of the laser scanner 100 generated heat insufficient over the hood 110 is discharged to the outside and so overheating of the device is possible. In addition, the non-conductive plastic cover can not be electronically connected to ground and thus offers a large entry gate for EMC interference (electromagnetic compatibility).
  • It is conceivable the hood 110 not as a single component, but as an assembly made of a rotating windscreen and a lid. This allows greater stability to be achieved, but the production costs increase, and the connection of windshield and cover results in leakage problems. In addition, this does not solve the problem of heat dissipation and the lack of electronic connection to ground and thus poor shielding against EMC radiation.
  • Therefore object of the invention to provide a generic sensor with improved stability.
  • This object is achieved by an optoelectronic sensor for detecting objects in a surveillance area according to claim 1. The sensor includes a light emitter and a light receiver for scanning the monitoring area, with a drive and a scanning unit moved thereby providing a periodic scanning movement. The sensor has a housing with a hood which forms the upper part of the housing. This hood is preferably already stable in itself, but just with a large diameter of the hood, the support by its own strength is not enough everywhere, which is why it is additionally supported by a support element. The invention is based on the basic idea of accommodating the support element in a hollow shaft of the drive.
  • The invention has the advantage that the hood is sufficiently supported with a simple measure to reliably avoid collisions of the hood with moving parts, such as the scanning unit or the hollow shaft. At the same time, the hood and thus the whole sensor in the field becomes more robust, has a higher shock and vibration resistance, and in particular the outdoor capability or the application possibilities in demanding environments, in which the sensor can not be protected against mechanical loads, increases considerably , A failure due to a defective hood or a defective device is much less likely.
  • The hood is preferably designed as a rotary body with a side wall and a lid portion. The side wall forms for example a circular cylinder, a truncated cone or a spherical section, but there are also more complicated contours, for example, conceivable as in a goblet. At the top, this is then completed by a lid area, which may be circular, but may also have a curvature.
  • The hood preferably has a front screen as an exit region for the transmitted light and the entry region for the remitted light. This front screen is again preferably an integral part of the hood, in particular the side wall.
  • The hood is preferably made of plastic transparent to transmitted light. Of course, the transparency property also applies to the reflected reception light, since it has the same wavelength. Thus, the hood wins the properties in order to serve as a front sheath at the same time. For the naked eye, however, the hood must by no means be transparent, but is, for example, black and opaque, since the transmitted light often uses a spectral range outside the visible range, in particular infrared light.
  • The hood is preferably a single component, not a multi-element assembly, to facilitate manufacture of the hood and its handling during assembly of the sensor.
  • Preferably, the support element centrally supports the hood. The support area on the hood is located in particular approximately in the middle of the lid area.
  • The support element is preferably fixed to the hood. By guiding in the hollow shaft co-rotation of the support member is not required, but it may be firmly connected to the stationary sensor. Accordingly, a simple and stable fixation on the hood without rotatable storage or the like is possible.
  • The support element is preferably rod-shaped. Such a support element is rod-shaped or a kind of support pin. This allows a simple configuration of the support element and guidance through the hollow shaft. The practically punctiform support is often enough to solve the problem of an unstable hood. It is also possible to strengthen the hood area around the support point and thus to distribute the forces in the cover area of the hood.
  • The support element is preferably supported on a bottom of the housing. There, the support forces can be easily absorbed. Preferably, the support element runs in this way once over the entire height of the sensor from the bottom to the lid portion of the hood.
  • The support element is preferably conductive. For this purpose, it may be made of metal or have a conductor, also in the form of a conductive coating. The primary purpose of the conductive features is to ground regions of the sensor to aid in EMC immunity. It is also conceivable improved heat distribution or heat dissipation. A power or signal line is also conceivable, for example by providing a wireless energy or data exchange between a rotating scanning unit to the lid portion of the hood and then the support member produces the further connection in the bottom region of the sensor.
  • The hood preferably has a conductive portion. This conductive subregion is preferably located in the lid region or forms the lid region and, more preferably, includes the contact region with the support element. The conductive portion is made for example of metal, has a metal plate or is conductive coated. In a conventional hood, the additional weight for the conductive properties would aggravate the problems with the instabilities, but with a suitable design of the support element according to the invention is readily possible. The conductive part serves as electrical shielding and heat dissipation to the environment. This improves the EMC properties and allows the sensor to be used in an extended temperature range. Preferably, the conductive portion is grounded, in particular via a likewise conductive support element.
  • The scanning unit preferably has the light transmitter and / or the light receiver. This turns the scanning unit into a rotating measuring head. With light transmitter and light receiver preferably associated transmitting and receiving optics and at least a portion of the transmitting and receiving electronics and possibly the evaluation unit are housed in the scanning unit.
  • The sensor is preferably a distance-measuring sensor in that the evaluation unit determines the light transit time between emission of the light signal and reception of the remitted light and, therefrom, the removal of an object. This allows much more accurate object information to be obtained than simply detecting the presence of objects.
  • Preferably, an angle measuring unit is provided for detecting the angular position of the scanning unit. Overall, complete two-dimensional position coordinates are then available for detected objects. In the case of a spatially extended monitoring area by movement of the scanning unit in two axes, the respective tilt angle of the scanning unit is preferably detected, so that then a total of three-dimensional spherical coordinates are obtained, which also completely describe the object position within the monitoring area.
  • The sensor is preferably designed as a safety sensor and has a safety output, wherein the evaluation unit is designed to determine whether an object is located in a protective field within the monitoring area, in order to then output a safety-related shutdown signal via the safety output. A safety sensor is safe in the sense of a safety standard as described in the introduction and can therefore be used in particular for personal protection of hazards.
  • Such advantageous features are described by way of example but not exhaustively in the subclaims following the independent claims.
  • The invention will be explained in more detail below with regard to further features and advantages by way of example with reference to embodiments and with reference to the accompanying drawings. The illustrations of the drawing show in:
  • 1 a schematic sectional view of a conventional laser scanner to illustrate the problem;
  • 2 a schematic sectional view of an embodiment of a laser scanner according to the invention with supported by a hollow shaft of a drive hood;
  • 3 a simplified sectional view of another embodiment of a laser scanner according to the invention similar 2 , but with additional conductive portion of the hood in the area of the support.
  • 2 shows a schematic sectional view through an optoelectronic sensor according to the invention in one embodiment as a laser scanner 10 , The laser scanner 10 comprises in rough division a movable scanning unit 12 and a socket unit 14 , The scanning unit 12 is the optical measuring head while in the Sokkeleinheit 14 other elements such as a supply, evaluation electronics, connections and the like are housed. In operation, with the help of a drive 16 the base unit 14 , which is a hollow shaft drive with a hollow shaft 18 is designed, the scanning unit 12 in a swinging or rotating movement, so as to a monitoring area 22 to periodically scan.
  • In the scanning unit 12 creates a light transmitter 24 with the help of a transmission optics 26 transmitted light 28 in the surveillance area 22 is sent out. Meets the transmitted light 28 in the surveillance area 22 on an object, then returns corresponding remitted light 30 to the laser scanner 10 back. The remitted light 30 is from a receiving optics 32 on a light receiver 34 guided and converted there into an electrical received signal. light source 24 and light receiver 34 are here together on a first printed circuit board 36 housed in vertical alignment with the hollow shaft 18 is appropriate. One around the hollow shaft horizontally 18 arranged second circuit board 38 is with the first circuit board 36 connected and supports them in addition.
  • The arrangement in the scanning unit 12 is purely exemplary to understand. So can light emitters 24 and light receiver 34 each also be housed on a separate circuit board and a total of more or less circuit boards are provided in a different arrangement. In principle, any other arrangement known per se from single-beam optoelectronic sensors or laser scanners, such as a double lens with transmitting optics in the center of a receiving lens or the use of a beam splitter mirror is possible. It is not even mandatory that a momentary system of light emitters 24 and light receiver 34 Instead, another sensor or a combination of several sensors can also rotate, for instance to achieve multiple scanning in several planes, as in the case of the DE 10 2013 111 547 A1 is described. The scanning unit 12 may also be formed as an arrangement of a stationary light emitter and light receiver with a rotary or oscillating mirror.
  • In the base unit 14 is an evaluation unit 40 provided that evaluates the received signal, the drive 16 controls and the signal of an angle measuring unit 42 , receives which the respective angular position of the scanning unit 12 certainly. The evaluation unit 40 is in communication with the scanning unit in a manner not shown 12 or the circuit boards 36 . 38 , For example, by a wireless data transmission unit preferably also with wireless supply for the elements of the scanning unit 12 , The control and evaluation functionality can be largely free between the scanning unit 12 , in particular the printed circuit boards 36 . 38 , and the evaluation unit 40 be distributed, but is described as if only the evaluation unit 40 responsible for.
  • For evaluation, the distance to a touched object is preferably measured with a light transit time method. For this purpose, in a phase-based system, the transmitted light of the light transmitter 24 modulated and a phase relationship with the received signal of the light receiver 34 evaluated. Alternatively, in a pulse-based system, short light pulses are emitted at a transmission time and the reception time is determined from the reception signal. In this case, both individual pulse methods, each of which determines a distance from a single transmission pulse, and pulse averaging methods are conceivable in which the received signal is collected after a multiplicity of successive transmission pulses and statistically evaluated. The respective angular position under which the transmitted light 28 each emitted is from the angle measuring unit 42 also known. Thus, after each scan period, so turn the scanning unit 12 , two-dimensional polar coordinates of all object points in a scanning plane are available over the angle and the distance.
  • Thus, the object positions or object contours are known and can via a sensor interface 44 be issued. The sensor interface 44 or another, not shown connection vice versa serve as a parameterization interface. In safety applications, protective fields are used in the surveillance area 22 can be configured, monitored for improper interventions, and then, if necessary, a safety-related shutdown signal on the then securely trained interface 44 (eg OSSD, Output Signal Switching Device).
  • The laser scanner 10 is in a housing 46 housed, whose upper part by a hood 48 is formed. The hood 48 has a side wall 50 on, here in the form of a truncated cone, generally as a rotational body of a suitable contour. The side wall 50 serves as a windshield, through which the transmitted light 28 off or the remitted light 30 entry. Accordingly, it is made of a material suitable for that of the light emitter 24 generated transmitted light 28 is transparent.
  • The hood 48 goes up through a lid area 52 completed that with the sidewall 50 connected and preferably formed together with it. For example, the hood 48 a single plastic component.
  • The hood 48 is in the lid area 52 , centrally in this embodiment, by a support member 54 supported. The support element 54 may have a simple shape, be designed as a pin or rod. The connection between hood 48 and support element 54 is preferably fixed. A rotatable mounting is not provided and also not required because the support element 54 the movement of the scanning unit 12 does not follow. The support element 54 rather passes through the hollow shaft 18 of the drive 16 to the bottom of the case 46 , This is the hood 48 and in particular their lid area 52 stably supported on the ground and thus fixed. A collision with elements of the moving, mostly rapidly rotating scanning unit 12 is not possible anymore.
  • The support element 54 can also contribute to improved thermal and EMC properties in addition to the explained constructive-mechanical function. This is the support element 54 conductive formed in particular of metal. This can cause the hood 48 in their lid area 52 be connected without moving transitions electronically and thermally. The support element 54 can even supply the scanning unit 12 or for data exchange with the scanning unit 12 contribute. This is the resting part of a corresponding wireless connection between the scanning unit 12 and socket unit 14 in the lid area 52 arranged and the support element 54 used to connect to the bottom of the laser scanner 10 manufacture.
  • 3 shows a sectional view of another embodiment of a laser scanner according to the invention 10 , The presentation is much easier, even this laser scanner 10 includes the ones omitted here, but required for operation and already too 2 explained features. In addition, here is the lid area 52 the hood 48 a leading subarea 56 provided, which serves as a shield and thermal radiation surface. The contact area with the support element 54 lies in the leading subarea 56 , The leading subarea 56 can over the support element 54 be connected to ground. The EMC properties and the thermal properties of the hood 48 are significantly improved in this way.
  • In principle, it is possible the hood 48 via a rotatable bearing, such as a ball bearing, directly on the hollow shaft 18 support, which itself as a support element 54 serves. But that would be an advantage of one in the hollow shaft 18 guided and therefore resting support element 54 given up. The support on a shaft with a bearing would already be possible for a simple shaft instead of a hollow shaft. A similar train of thought is, at the hood 48 a sliding insert, for example made of Teflon or one in the hood 48 to provide pressed-in structure, in case of a collision between hood 48 and moving elements of the scanning unit 12 Minimize or prevent damage.
  • 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 4340756 A1 [0004]
    • DE 19757849 B4 [0005]
    • EP 2388619 A1 [0005]
    • DE 19927502 A1 [0008]
    • DE 19928958 A1 [0008]
    • DE 102013111547 A1 [0036]
  • Cited non-patent literature
    • Standard EN13849 [0004]
    • Device standard EN61496 [0004]

Claims (11)

  1. Optoelectronic sensor ( 10 ), in particular laser scanners, for detecting objects in a surveillance area ( 22 ), whereby the sensor ( 10 ) a light transmitter ( 24 ) for transmitting transmitted light ( 28 ), a drive ( 16 ), one with the help of the drive ( 16 ) movable scanning unit ( 12 ) for periodic scanning with the transmitted light ( 28 ), a light receiver ( 34 ) for generating a received signal from objects in the surveillance area ( 22 ) remitted light ( 30 ), an evaluation unit ( 40 ) for collecting information about objects in the surveillance area ( 22 ) based on the received signal and a housing ( 46 ) with a hood ( 48 ), wherein the hood ( 48 ) by a support element ( 54 ) is additionally supported, characterized in that the drive ( 16 ) a hollow shaft ( 18 ) and that the support element ( 54 ) through the hollow shaft ( 18 ) is guided.
  2. Sensor ( 10 ) according to claim 1, wherein the hood ( 48 ) as a rotational body with a side wall ( 50 ) and a lid area ( 52 ) is trained.
  3. Sensor ( 10 ) according to claim 1 or 2, wherein the hood ( 48 ) a windscreen ( 50 ) as the exit area for the transmitted light ( 28 ) and entrance area for the remitted light ( 30 ) having.
  4. Sensor ( 10 ) according to one of the preceding claims, wherein the hood ( 48 ) off for the transmitted light ( 28 ) is made of transparent plastic.
  5. Sensor ( 10 ) according to one of the preceding claims, wherein the support element ( 54 ) the hood ( 48 ) is centrally supported.
  6. Sensor ( 10 ) according to one of the preceding claims, wherein the support element ( 54 ) on the hood ( 48 ) is fixed.
  7. Sensor ( 10 ) according to one of the preceding claims, wherein the support element ( 54 ) is rod-shaped.
  8. Sensor ( 10 ) according to one of the preceding claims, wherein the support element ( 54 ) at a bottom of the housing ( 46 ) is supported.
  9. Sensor ( 10 ) according to one of the preceding claims, wherein the support element ( 54 ) is conductive.
  10. Sensor ( 10 ) according to one of the preceding claims, wherein the hood ( 48 ) a conductive subregion ( 56 ) having.
  11. Sensor ( 10 ) according to one of the preceding claims, wherein the scanning unit ( 12 ) the light transmitter ( 24 ) and / or the light receiver ( 34 ) having.
DE202016105042.1U 2016-09-12 2016-09-12 Optoelectronic sensor Active DE202016105042U1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020065015A1 (en) * 2018-09-28 2020-04-02 Zf Friedrichshafen Ag Lidar measurement system and method for a lidar measurement system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340756A1 (en) 1992-12-08 1994-06-09 Sick Optik Elektronik Erwin Laser range finder, e.g. for driverless transport system - measures distance using pulse travel time and light deflection angle to determine position of object in measuring region
DE19927502A1 (en) 1999-05-22 2000-11-23 Volkswagen Ag Distance sensing arrangement for motor vehicle has essentially rod-shaped housing that is transparent, at least in scanner's wavelength range, in region of laser scanner light beam outlet
DE19928958A1 (en) 1999-05-22 2000-11-23 Volkswagen Ag Laser scanner with reception unit having spherical lens having recess with optical axis orthogonal to axis of rotation, for use in automobiles
DE19757849B4 (en) 1997-12-24 2004-12-23 Sick Ag Scanner and device for the optical detection of obstacles and their use
EP2388619A1 (en) 2010-05-20 2011-11-23 Leuze electronic GmbH + Co. KG Optical sensor
DE102013111547A1 (en) 2013-10-21 2015-04-23 Sick Ag Sensor with scanning unit movable about the axis of rotation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340756A1 (en) 1992-12-08 1994-06-09 Sick Optik Elektronik Erwin Laser range finder, e.g. for driverless transport system - measures distance using pulse travel time and light deflection angle to determine position of object in measuring region
DE19757849B4 (en) 1997-12-24 2004-12-23 Sick Ag Scanner and device for the optical detection of obstacles and their use
DE19927502A1 (en) 1999-05-22 2000-11-23 Volkswagen Ag Distance sensing arrangement for motor vehicle has essentially rod-shaped housing that is transparent, at least in scanner's wavelength range, in region of laser scanner light beam outlet
DE19928958A1 (en) 1999-05-22 2000-11-23 Volkswagen Ag Laser scanner with reception unit having spherical lens having recess with optical axis orthogonal to axis of rotation, for use in automobiles
EP2388619A1 (en) 2010-05-20 2011-11-23 Leuze electronic GmbH + Co. KG Optical sensor
DE102013111547A1 (en) 2013-10-21 2015-04-23 Sick Ag Sensor with scanning unit movable about the axis of rotation

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Gerätenorm EN61496
Norm EN13849

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020065015A1 (en) * 2018-09-28 2020-04-02 Zf Friedrichshafen Ag Lidar measurement system and method for a lidar measurement system

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