DE4128012C1 - Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles - Google Patents

Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles

Info

Publication number
DE4128012C1
DE4128012C1 DE4128012A DE4128012A DE4128012C1 DE 4128012 C1 DE4128012 C1 DE 4128012C1 DE 4128012 A DE4128012 A DE 4128012A DE 4128012 A DE4128012 A DE 4128012A DE 4128012 C1 DE4128012 C1 DE 4128012C1
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DE
Germany
Prior art keywords
vehicle
reflected
wheel
angles
polygon
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.)
Expired - Fee Related
Application number
DE4128012A
Other languages
German (de)
Inventor
Paul 6901 Wiesenbach De Klink
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.)
Eltro Gesellschaft fur Strahlungstechnik 6900 Heidelberg De GmbH
Original Assignee
Eltro Gesellschaft fur Strahlungstechnik 6900 Heidelberg De 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
Priority to DE4005919A priority Critical patent/DE4005919C2/en
Priority claimed from DE4005919A external-priority patent/DE4005919C2/en
Application filed by Eltro Gesellschaft fur Strahlungstechnik 6900 Heidelberg De GmbH filed Critical Eltro Gesellschaft fur Strahlungstechnik 6900 Heidelberg De GmbH
Priority to DE4128012A priority patent/DE4128012C1/en
Application granted granted Critical
Publication of DE4128012C1 publication Critical patent/DE4128012C1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • 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
    • G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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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)

Abstract

The detector uses a laser source and receiving module (2,3) fitted on the front of the following vehicle and having an optical axis which can be swivelled vertically in the elevation plane. The beam reflected from the surface of the road is passed back to the driver and displayed inside the car in the form of visual and acoustic signals. The signal (4') from the laser source (2) is scanned through various angles with the aid of a polygonal wheel (5) and the reflected beam (4'') goes back to the receiving module (3) and the scanning angle fixed by a sensor. The process is then repeated for a succession of angles of elevation, and the signals converted and evaluated for the display. ADVANTAGE - Only single laser module is needed, with direct coupling between reflected beam and angular position sensor.

Description

Die Erfindung bezieht sich auf eine Anordnung zur Ermittlung des Ab­ standes zu einem vorausfahrenden Fahrzeug und/oder der Sichtweite für Autofahrer, die sich z. B. in einer Zone geringer Sichtweite befinden, nach dem Oberbegriff des Anspruchs 1 und gemäß Patent DE 40 05 919 C1.The invention relates to an arrangement for determining the Ab to a vehicle in front and / or the visibility for Motorists who z. B. are in a zone with limited visibility, according to the preamble of claim 1 and according to patent DE 40 05 919 C1.

Um eine Kollisionswarnung mit Halbleiterlasern durchführen zu können, sind z. B. gemäß Anspruch 2 der DE 40 05 919 C1 mehrere über die Fahrbahn in Fahrtrichtung verteilte Laserstrahlen erforderlich. Will man hierbei die Genauigkeit der Messungen bei gleicher Anzahl von sende- und empfangsseitigen Laserstrahlen erhöhen, wäre es denkbar im "Time-sharing" zu arbeiten. Dies bedeutete, daß man entweder - um ein Zahlenbeispiel zu nennen - fünf Sender und einen Empfänger oder einen Sender und fünf Emp­ fänger benötigt, wobei die Zahl FÜNF der angenommenen Anzahl der Laser­ strahlen entspricht. Fünf Sender oder fünf Empfänger auf einem einzigen Hybrid aufzubauen, bedeutete aber eine erhebliche entwicklungs- und kostenmäßige Anstrengung.In order to be able to carry out a collision warning with semiconductor lasers, are z. B. according to claim 2 of DE 40 05 919 C1 several over the road Laser beams distributed in the direction of travel are required. If you want to do this the accuracy of the measurements with the same number of transmit and increase receiving laser beams, it would be conceivable in "time sharing" to work. This meant that either - to give a numerical example name - five transmitters and one receiver or one transmitter and five emp catcher needed, with the number FIVE the assumed number of lasers radiate corresponds. Five transmitters or five receivers on one Building hybrid, however, meant a significant development and costly effort.

Aus der DE 39 35 424 A1 ist sodann ein Zeilenabtastgerät mit einem Lasersender bekannt, bei dem zum Abtasten eines Gegenstandes ein sich drehendes Polygonspiegelrad verwendet und der Gegenstand unter verschiedenen Winkeln abgetastet wird. Die Spiegelflächen verlaufen hier einheitlich allesamt unter 90° zur Drehebene und können demnach auch nur in dieser Ebene abtasten.DE 39 35 424 A1 is then a line scanner with a Laser transmitter known in which to scan an object rotating polygon mirror wheel used and the object underneath is scanned at different angles. The mirror surfaces run here all uniformly at 90 ° to the rotating plane and can therefore just scan in that plane too.

Aufgabe der Erfindung ist es, eine Möglichkeit zu entwickeln, pro Messung ohne zusätzliche Sende- und Empfangsmodule mehrere oder eine nahezu belie­ bige Anzahl Laserstrahlen verfügbar zu haben. Diese Aufgabe wird erfindungs­ gemäß durch die Kennzeichnungsmerkmale des Patentanspruchs 1 gelöst. Der Er­ findungsgedanke ist durch die einfache direkte Kopplung zwischen abgestrahlter Laserstrahlung und der Winkelposition gegeben. Von Vorteil ist, daß man hier­ für nur einen einzigen Lasersende- und -empfangsmodul benötigt.The object of the invention is to develop one possibility per measurement Without additional transmit and receive modules, several or almost any to have a large number of laser beams available. This task is fiction solved by the characterizing features of claim 1. The he idea is through the simple direct coupling between radiated Given laser radiation and the angular position. The advantage is that you can stay here required for just a single laser transmitter and receiver module.

Im folgenden wird an Hand einer Zeichnung ein Ausführungsbeispiel der Er­ findung näher erläutert, wobei die in den beiden Figuren einander ent­ sprechenden Teile dieselben Bezugszahlen aufweisen. Es zeigtIn the following, an embodiment of the He is based on a drawing Finding explained in more detail, the ent in the two figures speaking parts have the same reference numerals. It shows

Fig. 1 eine Prinzipskizze der erfindungsgemäßen Anordnung in Draufsicht und Fig. 1 is a schematic diagram of the arrangement according to the invention in plan view and

Fig. 2 die Prinzipskizze gemäß Fig. 1 in Seitenansicht. Fig. 2 shows the schematic diagram of FIG. 1 in side view.

Im Frontbereich des in Fig. 1 angedeuteten Autos 1 ist ein aus Lasersende­ modul 2 und Laserempfangsmodul 3 bestehender und nach dem Impulslaufzeit­ verfahren arbeitender Laserentfernungsmesser 2, 3 starr befestigt, dessen optische Achse 4 sich mit Hilfe des Polygonrades 5 in einer zur Fahrtrich­ tung 11 vertikalen Ebene verschwenken läßt. Dieses Polygonrad besitzt z. B. fünf gegeneinander winkelmäßig abgestufte, verspiegelte Einzelflächen 5′ bis 5 V. Im vorliegenden Ausführungsbeispiel trifft der vom Lasersendemodul 2 kommende Strahl 4′ auf die Spiegelfläche 5′ und gelangt von hier über den unter einem entsprechenden Winkel angeordneten ersten Spiegel 6 und die Linse 8 auf die Fahrbahndecke 10, von wo aus der reflektierte Anteil 4′′ über Linse 9, den zweiten Spiegel 7 und die Spiegelfläche 5′′′ des Polygonrades auf den Laserempfängermodul 3 trifft. Nach optoelektronischer Umwandlung wird das Signal in der Elektronik 12 (Fig. 2) verarbeitet und dem Autofahrer im Auto­ inneren als Abstand bzw. Sichtweite fortlaufend visuell und/oder akustisch angezeigt. Der nächste Strahlenanteil verläuft über die in der Elevation - gegenüber Spiegelfläche 5′ - etwas stärker geneigte Spiegelfläche 5′′ usf. Bei einem anderen, zeichnerisch nicht dargestellten Ausführungsbeispiel kann das Polygonrad auch mehr oder weniger Spiegelflächen besitzen, die in ein­ fachster Ausführungsform beispielsweise auch unter demselben Winkel ange­ ordnet sein können, ohne daß dadurch der Rahmen der Erfindung verlassen würde.In the front area of the portion shown in FIG. 1, the automobile 1 is an existing from laser transmitter module 2 and laser receiving module 3 and proceed according to the pulse transit time of working laser rangefinder 2, rigidly fixed to 3, whose optical axis 4 is vertical with the aid of the polygon wheel 5 in a tung to the driving direction 11 Level swivels. This polygon wheel has z. B. five mutually angularly graduated, mirrored individual surfaces 5 'to 5 V. In the present exemplary embodiment, the beam 4 'coming from the laser transmitter module 2 ' strikes the mirror surface 5 'and passes from here via the first mirror 6 and the lens 8 arranged at a corresponding angle to the road surface 10 , from where the reflected portion 4 ''passes over Lens 9 , the second mirror 7 and the mirror surface 5 '''of the polygon wheel meets the laser receiver module 3 . After optoelectronic conversion, the signal is processed in the electronics 12 ( FIG. 2) and continuously shown visually and / or acoustically to the driver inside the car as a distance or visibility. The next radiation component runs over the mirror surface 5 'in elevation - slightly more inclined mirror surface 5 ''and so on. In another embodiment, not shown in the drawing, the polygon wheel can also have more or fewer mirror surfaces, which in a more specialized embodiment, for example, also the same angle can be arranged without thereby leaving the scope of the invention.

In der gegenüber Fig. 1 um 90° gedreht . dargestellten Ansicht von Fig. 2 ist mit der Bezugszahl 13 der Antrieb des Polygonrades 5 bezeichnet. Auf seiner Achse 14 ist als optischer Positionsgeber eine Steg/Schlitz-Scheibe mit kommerzieller LED-Lichtschranke befestigt, die als Positionsgeber 15 für die jeweiligen Abtastwinkel im Raum dient. In comparison with FIG. 1 is rotated by 90 °. view of FIG illustrated. 2 is designated by the reference numeral 13 the driving of the polygon wheel 5. On its axis 14 , a web / slot disk with a commercial LED light barrier is attached as an optical position sensor, which serves as a position sensor 15 for the respective scanning angle in space.

Bei den Spiegelflächen 5′ bis 5 V mit zueinander abgestuften Winkeln trifft Strahl 4′ in mehr oder weniger äquidistanten Schritten auf die jeweils vor dem Auto befindliche Fahrbahndecke 10. Solange bei dem in Richtung des Drehpfeiles rotierenden Polygonrad die Fahrbahndecke von allen Spiegelflächen ein ausreichendes Signal zum Laserempfängermodul reflektiert, ist ausreichende Sichtweite gegeben, so daß der Fahrer mit keinem Hindernis - sei es Nebel oder ein vorausfahrendes Fahrzeug - zu rechnen braucht und zufahren kann.At the mirror surfaces 5 'to 5 V with mutually stepped angles, beam 4 ' strikes the road surface 10 in front of the car in more or less equidistant steps. As long as the road surface on the rotating polygon wheel in the direction of the arrow reflects a sufficient signal to the laser receiver module from all mirror surfaces, there is sufficient visibility so that the driver does not have to reckon with any obstacle - be it fog or a vehicle in front.

Claims (4)

1. Anordnung zur Ermittlung des Abstandes zu einem vorausfahrenden Fahr­ zeug und/oder der Sichtweite für Autofahrer, die sich z. B. in einer Zone geringer Sichtweite befinden, unter Verwendung eines im Frontbe­ reich des Fahrzeugs montierten Lasersende- und -empfangsmoduls mit im Elevationsbereich verschwenkbarer optischer Achse, wobei die an der Fahrbahndecke reflektierte Strahlung nach optronischer Umformung und Auswertung dem Autofahrer auf einer Anzeige im Autoinneren ent­ sprechende visuelle und/oder akustische Abstands- bzw. Sichtweitensig­ nale vermittelt - nach Patent 40 05 919, dadurch gekennzeich­ net, daß
  • a) das aus dem Lasersendemodul (2) austretende Signal (4′) in an sich bekannter Weise mit Hilfe eines Polygonrades (5) unter verschiedenen Winkeln abgetastet und dann abgestrahlt wird, während die reflek­ tierte Strahlung (4′′) über das Polygonrad auf den Laserempfangs­ modul (3) gelangt und der Abtastwinkel im Raum jeweils mittels eines Positionsgebers ermittelt wird und
  • b) das Abstrahlen des Signals (4′) in Richtung Fahrbahndecke (10) und die von dort reflektierte Strahlung (4′′) einmal horizontal und zum anderen auch noch unter verschiedenen Elevationswinkeln erfolgt.
1. Arrangement for determining the distance to a vehicle driving ahead and / or the visibility for drivers who are z. B. are located in a zone of low visibility, using a laser transmitter and receiver module mounted in the front of the vehicle with an optical axis pivotable in the elevation area, the radiation reflected on the pavement after optronic shaping and evaluation ent the driver on a display inside the car ent speaking visual and / or acoustic distance or visual signals mediated - according to patent 40 05 919, characterized in that
  • a) the emerging from the laser transmitter module ( 2 ) signal ( 4 ') in a known manner with a polygon wheel ( 5 ) is scanned at different angles and then emitted while the reflected radiation ( 4 '') on the polygon wheel the laser receiving module ( 3 ) arrives and the scanning angle in space is determined by means of a position sensor and
  • b) the radiation of the signal ( 4 ') in the direction of the road surface ( 10 ) and the radiation reflected from there ( 4 '') once horizontally and on the other hand also at different elevation angles.
2. Anordnung nach Anspruch 1, dadurch gekennzeichnet, daß das Polygonrad (5) ein symmetrisches Fünffachpolygon ist und seine Flächen (5′ bis 5 V) unter die Strahlrichtung bestimmenden Winkeln abgestuft aus­ gebildet sind.2. Arrangement according to claim 1, characterized in that the polygonal wheel ( 5 ) is a symmetrical five-fold polygon and its surfaces ( 5 'to 5 V ) are formed from the angles determining the beam direction graded from. 3. Anordnung nach Anspruch 1, dadurch gekennzeichnet, daß der Positionsgeber (15) auf der Achse (14) eines Antriebs (13) angeordnet und z. B. als Steg/Schlitz-Scheibe mit LED-Lichtschranke ausgebildet ist.3. Arrangement according to claim 1, characterized in that the position transmitter ( 15 ) on the axis ( 14 ) of a drive ( 13 ) and z. B. is designed as a web / slot disc with LED light barrier. 4. Anordnung nach einem der vorausgehenden Ansprüche, dadurch ge­ kennzeichnet, daß der Sendestrahl (4′) von einer Spiegelfläche (5′) des Polygonrades (5) über einen unter einem definierten Winkel an­ geordneten ersten Spiegel (6) ausgesandt und der von der Fahrbahndecke (10) reflektierte Strahl (4′′) über einen ebenfalls unter einem bestimmten Winkel angeordneten zweiten Spiegel (7) auf eine andere Fläche des Poly­ gonrades horizontal gelenkt wird.4. Arrangement according to one of the preceding claims, characterized in that the transmission beam ( 4 ') from a mirror surface ( 5 ') of the polygonal wheel ( 5 ) via an at a defined angle to ordered first mirror ( 6 ) and which of the Road surface ( 10 ) reflected beam ( 4 '') via a second mirror ( 7 ) also arranged at a certain angle is directed horizontally to another surface of the poly gonrad.
DE4128012A 1990-02-24 1991-08-23 Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles Expired - Fee Related DE4128012C1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE4005919A DE4005919C2 (en) 1990-02-24 1990-02-24 Method and arrangement for determining the visibility for motorists when fog occurs
DE4128012A DE4128012C1 (en) 1990-02-24 1991-08-23 Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4005919A DE4005919C2 (en) 1990-02-24 1990-02-24 Method and arrangement for determining the visibility for motorists when fog occurs
DE4128012A DE4128012C1 (en) 1990-02-24 1991-08-23 Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles

Publications (1)

Publication Number Publication Date
DE4128012C1 true DE4128012C1 (en) 1993-02-11

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DE4128012A Expired - Fee Related DE4128012C1 (en) 1990-02-24 1991-08-23 Vehicle separation and visibility detector for warning car driver - uses laser and polygon wheel to scan in front of vehicle in horizontal direction and at various elevation angles

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Cited By (7)

* 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
DE4430026A1 (en) * 1993-09-02 1995-03-09 Nissan Motor Range measurement device (distance measurement device)
DE19530281A1 (en) * 1995-08-17 1997-02-20 Johann Hipp Optical detection appts. for obstacles in front of vehicle
DE19543402A1 (en) * 1995-11-21 1997-05-22 Bayerische Motoren Werke Ag Device for determining the distance of vehicles
DE4345448C2 (en) * 1992-12-08 1998-07-30 Sick Ag Laser range finder, e.g. for driverless transport system
DE19923702A1 (en) * 1999-05-22 2000-11-23 Volkswagen Ag Distance sensing arrangement has device for reversing pivoting movement or deflection elements arranged so reversed scan is offset wrt. original by integral fraction of angular resolution
DE10139237A1 (en) * 2001-08-09 2003-03-06 Conti Temic Microelectronic Distance measuring device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3317538C2 (en) * 1982-05-19 1986-10-16 Hitachi Koki Co., Ltd., Tokio/Tokyo Optical scanning system
DE3637843C2 (en) * 1986-11-06 1988-11-17 Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De
DE3922982A1 (en) * 1988-07-13 1990-01-18 Hitachi Ltd DEVICE FOR OPTICAL SCANING AND ASYMMETRICAL, ASPHERICAL SCAN LENS
DE3935424A1 (en) * 1988-10-25 1990-04-26 Matsushita Electric Ind Co Ltd LINE SCANNER FOR DETECTING PROJECTING PATTERNS ON AN OBJECT
DE3933065A1 (en) * 1988-10-20 1990-04-26 Gerber Scientific Instr Co LASER SCAN FOR PASSIVE FACET SCAN

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3317538C2 (en) * 1982-05-19 1986-10-16 Hitachi Koki Co., Ltd., Tokio/Tokyo Optical scanning system
DE3637843C2 (en) * 1986-11-06 1988-11-17 Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De
DE3922982A1 (en) * 1988-07-13 1990-01-18 Hitachi Ltd DEVICE FOR OPTICAL SCANING AND ASYMMETRICAL, ASPHERICAL SCAN LENS
DE3933065A1 (en) * 1988-10-20 1990-04-26 Gerber Scientific Instr Co LASER SCAN FOR PASSIVE FACET SCAN
DE3935424A1 (en) * 1988-10-25 1990-04-26 Matsushita Electric Ind Co Ltd LINE SCANNER FOR DETECTING PROJECTING PATTERNS ON AN OBJECT

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LEVI, Paul: "Laser-Abstandsmessungen: Industrie- roboter lernen räumlich sehen" in DE-Z: Elektronik12/16.06.1983, S. 93-98 *

Cited By (12)

* 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
DE4345448C2 (en) * 1992-12-08 1998-07-30 Sick Ag Laser range finder, e.g. for driverless transport system
DE4345446C2 (en) * 1992-12-08 1998-07-30 Sick Ag Laser range finder, e.g. for driverless transport system
DE4340756C2 (en) * 1992-12-08 1998-07-30 Sick Ag Laser distance determination device
DE4340756C5 (en) * 1992-12-08 2006-08-10 Sick Ag Laser range finding device
DE4430026A1 (en) * 1993-09-02 1995-03-09 Nissan Motor Range measurement device (distance measurement device)
FR2709558A1 (en) * 1993-09-02 1995-03-10 Nissan Motor Distance measuring device
DE19530281A1 (en) * 1995-08-17 1997-02-20 Johann Hipp Optical detection appts. for obstacles in front of vehicle
DE19530281C2 (en) * 1995-08-17 1999-01-07 Johann Hipp Device for optically detecting obstacles in front of vehicles
DE19543402A1 (en) * 1995-11-21 1997-05-22 Bayerische Motoren Werke Ag Device for determining the distance of vehicles
DE19923702A1 (en) * 1999-05-22 2000-11-23 Volkswagen Ag Distance sensing arrangement has device for reversing pivoting movement or deflection elements arranged so reversed scan is offset wrt. original by integral fraction of angular resolution
DE10139237A1 (en) * 2001-08-09 2003-03-06 Conti Temic Microelectronic Distance measuring device

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