DE102008064652B4 - Optical runtime sensor for space scanning - Google Patents
Optical runtime sensor for space scanning Download PDFInfo
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- DE102008064652B4 DE102008064652B4 DE102008064652.0A DE102008064652A DE102008064652B4 DE 102008064652 B4 DE102008064652 B4 DE 102008064652B4 DE 102008064652 A DE102008064652 A DE 102008064652A DE 102008064652 B4 DE102008064652 B4 DE 102008064652B4
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- Prior art keywords
- mirror
- optical time
- flight sensor
- sensor according
- mirrors
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
Abstract
Optischer Laufzeitsensor zur Raumabtastung einer Szene mit mindestens einem Sender (101) und mindestens einem Empfänger (607), wobei der mindestens eine Sender (101) über einen bewegten Spiegel (601) auf die Szene abgebildet wird und wobei die Rückstreusignale aus der beleuchteten Szene über die Spiegelmatrix (608) mit den Einzelspiegeln (411a bis 411d) auf den mindestens einen Empfänger (607) projiziert werden, dadurch gekennzeichnet, dass die Spiegelmatrix (608) zugleich als Ablenkmittel und durch Einstellung aller Spiegel zur Fokussierung der Rückstreusignale auf den mindestens einen Empfänger (607) wirkt, und dass ein Baustein (809) Einstellwerte der Spiegelmatrixeinstellung für die Optimierung des Signalrauschverhältnisses verbessert und speichert.Optical transit time sensor for spatial scanning of a scene with at least one transmitter (101) and at least one receiver (607), the at least one transmitter (101) being mapped onto the scene via a moving mirror (601) and the backscatter signals from the illuminated scene via the mirror matrix (608) with the individual mirrors (411a to 411d) are projected onto the at least one receiver (607), characterized in that the mirror matrix (608) simultaneously acts as a deflection means and by adjusting all mirrors to focus the backscatter signals on the at least one receiver (607) acts, and that a module (809) improves and stores setting values of the mirror matrix setting for optimizing the signal-to-noise ratio.
Description
Stand der TechnikState of the art
Es sind eine Reihe von Sensoren bekannt, die einen Szenenraum abtasten. Diese Sensoren sind z. B. in folgenden Schriften dargestellt:
Alle diese Systeme verwenden zur Raumabtastung mindestens ein rotierendes Teil.All of these systems use at least one rotating part for space scanning.
DE 10 2005 049 471 A1DE 10 2005 049 471 A1
In dieser Schrift wird eine Spiegelmatrix hinter der Empfangsoptik benützt. Diese Spiegelmatrix selektiert nur aus der Gesamtabbildung die vom Sender angestrahlten Abbildungsteile, der Rest der Abbildung geht auf einen Absorber.In this document, a mirror matrix is used behind the receiving optics. This mirror matrix only selects the image parts illuminated by the transmitter from the overall image, the rest of the image is directed to an absorber.
DE 103 23 371 A1DE 103 23 371 A1
In dieser Schrift ist entweder im Empfangs- oder Sende-Bereich eine einfache Spiegelmatrix angebracht. Um eine definierte Ablenkung der Signale zu erreichen, ist eine nicht näher beschriebene Kalibrierung mit Referenzwinkeln im System nötig. Außerdem wird mit der beschriebenen Anordnung nur jeweils ein kleiner Teil entweder der Sendeleistung oder der vom Objekt rückgestreuten Leistung ausgenützt.In this document, a simple mirror matrix is attached either in the receive or transmit area. To achieve a defined deflection of the signals, an unspecified calibration with reference angles in the system is necessary. In addition, only a small part of either the transmission power or the power backscattered by the object is utilized with the arrangement described.
Aufgabe der ErfindungObject of the invention
Aufgabe der Erfindung ist es mit einfachen und preiswerten, optischen, elektronischen und mechanischen Komponenten eine Raumabtastung durch Entfernungsmessungen durchzuführen und möglichst wenig bewegte Teile und nur solche Teile zu benützen, bei denen ausschließlich Federn als Lagerung Anwendung finden. Darüber hinaus sollen die Strahlungsgänge von Sender und Empfänger eine Parallaxe aufweisen um Blendungen aus dem Nahbereich zu minimieren.The object of the invention is to carry out a spatial scanning by distance measurements with simple and inexpensive, optical, electronic and mechanical components and to use as few moving parts and only those parts where exclusively springs are used as storage application. In addition, the radiation paths of transmitter and receiver should have a parallax to minimize glare from the near range.
Beschreibung der ErfindungDescription of the invention
Die Erfindung wird anhand der
Entsprechend
Eine Weiterführung dieses Systems besteht darin, dass der Spiegel
Eine weitere Ausführungsform ist in
Werden die Spiegel um den Winkel
Eine weitere Ausführung ist in
Auf den Spiegel
Mit diesem System kann durch die Auswahl der Anzahl oder der Lage der Spiegel die für die Projektion auf den Detektor benützt werden insbesondere im Nahbereich oder bei stark reflektierenden Zielen die Signalstärke gezielt gesteuert werden.By selecting the number or position of the mirrors which are used for the projection onto the detector, the system can be used to selectively control the signal strength, especially in the near range or with highly reflective targets.
Durch die Projektion der Rückstreuleistung auf den Detektor über die Spiegelmatrix ergeben sich folgende Vorteile:
- – Für die Endjustage ist nur noch die
Fokussierung der Sendelinse 107 notwendig. Alle anderen Justagen können automatisch vorgenommen werden. - – Während der Betriebszeit des Sensors wird durch statistische Auswertung der Signale bei verschiedenen Objektständen eine Optimierung und Nachjustage möglich.
- – Das System kann für einen sehr weiten Wellenlängenbereich von ca. 300 nm bis ca. 4 mm benützt werden.
- – Durch statistische Auswertung während des Fahr- oder Flugbetriebes kann die Abstimmung der Fahrzeug- oder Flugzeugtrajektorie mit der Sensorhauptrichtung vorgenommen werden.
- - For the final adjustment is only the focus of the
transmission lens 107 necessary. All other adjustments can be made automatically. - - During the operating time of the sensor, an optimization and readjustment becomes possible by statistical evaluation of the signals at different object states.
- The system can be used for a very wide wavelength range from about 300 nm to about 4 mm.
- - By statistical evaluation during driving or flight operation, the vote of the vehicle or aircraft trajectory can be made with the main sensor direction.
Das Blockschaltbild der Systeme nach
Das Blockschaltbild der Ausführung entsprechend
Die Abstandsmessung aller beschriebenen Systeme erfolgt vorwiegend nach dem Pulslaufzeitverfahren wie in den Schriften
beschrieben. Die Abstandsmessung kann aber auch mit anderen Verfahren erfolgen.The distance measurement of all systems described is mainly based on the pulse transit time method as in the writings
described. The distance measurement can also be done with other methods.
Claims (10)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE102009049809.5A DE102009049809B4 (en) | 2008-04-18 | 2009-10-16 | Optical runtime sensor for space scanning |
Applications Claiming Priority (2)
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DE102008064652.0A DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
DE200810019615 DE102008019615B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
Publications (2)
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DE102008064652A1 DE102008064652A1 (en) | 2011-03-31 |
DE102008064652B4 true DE102008064652B4 (en) | 2014-03-27 |
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DE102008064652.0A Expired - Fee Related DE102008064652B4 (en) | 2008-04-18 | 2008-04-18 | Optical runtime sensor for space scanning |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016200109A1 (en) * | 2015-09-18 | 2017-03-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Apparatus and method for detecting objects in a detection area |
DE102016010102A1 (en) | 2016-08-24 | 2018-03-01 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Sampling Optical Distance Sensor |
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DE102014005350A1 (en) * | 2014-04-10 | 2015-10-15 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Optical obstacle detection sensor for a vehicle |
DE102014118974A1 (en) * | 2014-12-18 | 2016-06-23 | Valeo Schalter Und Sensoren Gmbh | Laser scanner, Umlenkspiegelanordnung this and optical release means for a Umlenkspiegelanordnung |
DE102015108762A1 (en) * | 2015-06-03 | 2016-12-08 | Valeo Schalter Und Sensoren Gmbh | Holding device for holding a drive unit of a Umlenkspiegelanordnung, detection device with a Umlenkspiegelanordnung and motor vehicle |
DE102016213427A1 (en) * | 2016-07-22 | 2018-01-25 | Zf Friedrichshafen Ag | LiDAR with tracked detection area |
DE102016219775A1 (en) * | 2016-10-12 | 2018-04-12 | Robert Bosch Gmbh | Lidar sensor for detecting an object |
JP6926439B2 (en) | 2016-10-17 | 2021-08-25 | 船井電機株式会社 | Laser device |
DE102016221245A1 (en) | 2016-10-28 | 2018-05-03 | Robert Bosch Gmbh | Lidar sensor and method for detecting an environment |
DE102017104104A1 (en) | 2017-02-28 | 2018-08-30 | Valeo Schalter Und Sensoren Gmbh | Optical element for a transmitting device of an optical detection device, transmitting device, optical detection device, motor vehicle and method |
DE102017002866A1 (en) * | 2017-03-24 | 2018-09-27 | Blickfeld GmbH | Scanner with two sequential scan units |
DE102017207947A1 (en) * | 2017-05-11 | 2018-11-15 | Robert Bosch Gmbh | Laser scanner for a LIDAR system and method for operating a laser scanner |
CN107153201A (en) * | 2017-05-25 | 2017-09-12 | 深圳市速腾聚创科技有限公司 | Laser radar and laser radar control method |
DE102017111868A1 (en) * | 2017-05-31 | 2018-12-06 | Valeo Schalter Und Sensoren Gmbh | Optical transmission unit and method for operating an optical transmission unit |
DE102017006321A1 (en) | 2017-07-05 | 2019-01-10 | Wabco Gmbh | LIDAR sensor with reference plane adjustment |
DE102017216826A1 (en) | 2017-09-22 | 2019-03-28 | Robert Bosch Gmbh | Laser scanner, for example, for a LIDAR system of a driver assistance system |
DE102017220395A1 (en) * | 2017-11-15 | 2019-05-16 | Osram Gmbh | DISTANCE MEASURING DEVICE |
DE102018203535A1 (en) | 2018-03-08 | 2019-09-12 | Zf Friedrichshafen Ag | Transmitter module for distance measurement with light signals, LiDAR device with such a transmitter module and method for distance measurement with light signals |
DE102018113739A1 (en) * | 2018-06-08 | 2019-12-12 | Blickfeld GmbH | Coaxial optical system of a friction-free scanning system for light detection and distance measurement, LIDAR, measurements |
DE102018128164A1 (en) * | 2018-11-12 | 2020-05-14 | Infineon Technologies Ag | LIDAR SENSORS AND METHOD FOR LIDAR SENSORS |
DE102022000460A1 (en) | 2021-03-02 | 2022-09-08 | Sew-Eurodrive Gmbh & Co Kg | Communication module for a system for data transmission using light beams and system for data transmission using light beams |
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DE3634724A1 (en) * | 1986-10-11 | 1988-04-28 | Wolfgang Brunk | METHOD AND DEVICE FOR CONTACTLESS OPTICAL MEASUREMENT OF TRAILS, ESPECIALLY IN THE TRIANGULATION METHOD |
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DE102016200109A1 (en) * | 2015-09-18 | 2017-03-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Apparatus and method for detecting objects in a detection area |
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Publication number | Publication date |
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DE102008064652A1 (en) | 2011-03-31 |
DE102008019615A1 (en) | 2009-11-05 |
DE102008019615B4 (en) | 2010-03-25 |
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