• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an apparatus for distance and / or positioning of a target (19) with respect to a measuring point, the apparatus comprising an optical distance measuring device (3) (5), receives a video signal of the image recognition device (5), receives a distance value of the distance measuring device (3) and a position occupied by the target (19) And an evaluating device 7 for recognizing the user. The present invention also relates to a process for grasping the spatial position of the target 19 with respect to a certain measuring point. At this time, the optical distance measuring apparatus 3 provides a distance between the measurement point and the target 19, and uses the image of the target 19 photographed from the measurement point to grasp the space coordinates on a plane parallel to the screen. The third spatial coordinate is determined from the distance value and two different spatial coordinates.
    公开号:KR19990081876A
    申请号:KR1019980705587
    申请日:1996-11-12
    公开日:1999-11-15
    发明作者:알라인 가일라르트
    申请人:클라우스 포스, 게오르그 뮐러；로베르트 보쉬 게엠베하；
    IPC主号:
    专利说明:

    Distance and positioning devices
    Such a measurement procedure and the corresponding device for carrying out this measurement procedure have also been introduced in the prior art. Such a device for positioning is used, for example, in the so-called ACC system (Adaptive Cruise Control), which automatically accelerates or brakes depending on the distance and position of the vehicle ahead of the vehicle.
    The device includes a distance sensor that scans the area in front of the vehicle to find the target to be identified for this purpose. Reflects the light beam onto the target and identifies it as a distance sensor. The first distance value can be grasped based on the time at which the light travels between the measurement point, i.e., the vehicle and the detected target.
    However, this distance value alone is not sufficient to determine the spatial location of the target relative to the measurement point. This is because the distance sensor is arranged so that it can be pivoted around at least one axis without being fixed so as not to move. To illustrate this more clearly, we have plotted a coordinate system in FIG. 2 in which the origin points to the measurement point. The detected target is indicated by 0.
    The distance sensor now provides the length of the vector (0) from the origin to the target (0). However, clues regarding the spatial position of the detected target can not be obtained from this length to this distance value.
    In order to calculate accurate spatial position using triangulation, we need to know the indicated angles (α and β) additionally. Then, the coordinate values (x, y, z) of the point (0) as shown in Fig. 2 can be calculated.
    These two angles [alpha] and [beta] are provided from angle sensors. The angle sensor is assigned to the distance sensor, which detects the rotational movement about each axis.
    However, there is the disadvantage that this device requires the use of an electromechanical system, such as a potentiometer, to determine the angle. Such electromechanical devices are expensive, have frequent failures, and often have a short life span.
    The present invention relates to an apparatus for distance and / or positioning of a target with respect to a measuring point, the apparatus comprising an optical distance measuring device. The present invention also relates to a process for grasping a distance and / or a spatial position of a target with respect to a measurement point.
    DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. here
    1 shows a device according to the invention;
    2 is a view showing a coordinate system for explaining a measuring process;
    3 is a flow chart of positioning;
    On the other hand, according to the present invention, a process for determining a spatial position according to the present invention and a distance and / or position determination apparatus having the features of claim 1 can be performed by measuring the angular position of the distance sensor There is an advantage that no numerical value is required. Therefore, the failure probability is also reduced because no other electromechanical indictments are required.
    Since the image recognition device is installed, the relative position of the target can be calculated on at least one side using the photographed image. The third coordinate, which is not yet available, can be calculated simply from the distance value and two different coordinates.
    Here, the image recognition device mainly refers to a video camera having a charge-coupled device cell (CCD-cell). The pixel resolution of this cell determines the accuracy of the measurement. Particularly, it has been proved that an image recognition device sensitive to the wavelength of light emitted from the distance sensor is advantageous.
    The device according to the invention is particularly suitable for use in an adaptive cruise control system of an automobile.
    The apparatus described in claim 1 can be advantageously developed and improved through the measures set forth in the other claims.
    Figure 1 shows the main components of a measuring device for positioning. The measuring apparatus 1 includes an optical distance measuring sensor 3, a video camera 5, and a control and evaluating apparatus 7. Data can be transmitted from the distance measurement sensor 3 or the video camera 5 to the control and evaluation device 7 via wires 9 and 11. [
    The distance measuring sensor 3 is arranged so as to be able to rotate on the one hand about the vertical axis 13 and on the other hand about the horizontal axis 15 by a driving device which is not drawn in the figure. The control device 7 activates a driving device which is not drawn in the figure. Proper actuation of the drive allows scanning of the x-z plane with the light beam 17 emitted by the distance measuring sensor. As a result, the target 19 of the automobile or the like placed in front of the measuring apparatus 1 can be grasped as the light beam 17.
    The light beam 17 striking the reflecting surface 21 of the car 19 is reflected and returned to the measuring device 1. [ When a suitable optical sensor provided on the distance measuring sensor detects the reflected beam, the distance between the measuring device 1 and the target 19 can be grasped based on the time when the light beam travels back and forth.
    However, this distance alone is not sufficient to determine the position of the target 19, that is, to determine all three spatial coordinates (x, y, z).
    The video camera 5 arranged next to the distance measuring sensor 3 photographs the plane scanned by the distance measuring sensor and uses this lens to transfer this plane to a charge coupled device (CCD) having a plurality of individual cells 24 -unit) (23). To clearly illustrate this, the image generated on the optoelectronic component 23 is shown graphically.
    Note the positioning of the video camera 5, since the optoelectronic component 23 lies on the z-x plane, so that there is no distortion that distorts the measurement result.
    The signals provided by the individual charge-coupled device cells 24 of the charge-coupled device device 23 are transmitted to the control and evaluation device 7 via the wire 9. [
    Now, the process of processing these signals in the evaluation apparatus 7 will be described with reference to FIG.
    The distance to the target is determined by an optical method (step 101), while the video camera captures an image and simulates the target (step 102).
    The first thing in evaluating the photographing or the image is to recognize the reflexion spot 21 (step 103) and then determine the position where the reflection point lies in the image. That is, the position of the target can be deduced by using the position of the charge-coupled device cell in the charge-coupled device for detecting the reflection point 21. As a result, the z coordinate (azimuthal position) and the x coordinate (side position) are provided (step 104), as can be seen from the video image drawn in the drawing. Accordingly, in the example shown in Fig. 1, x = 5 and z = 4.
    In order to completely determine the position of the target 19, only the y coordinate is obtained. As shown in Fig. 2, the y-coordinate is calculated from the distance value and two coordinates already obtained according to the following equation (steps 105 and 106).
    y = distance value 2 -z 2 -x 2
    This allows precise positioning of the target 19 relative to the measuring device 1 without using an angle measuring signal.
    It is needless to say that the optoelectronic devices other than the video camera 5 can be used as long as the reflection points can be detected by other optoelectronic devices.
    权利要求:
    Claims (6)
    [1" claim-type="Currently amended] An apparatus for distance and positioning of a target (19) with respect to a measuring point, comprising an optical distance measuring device (3)
    An image recognition device for photographing the target 19 and
    An evaluation device 7 for receiving the video signal of the image recognition device 5 and determining the spatial position of the target using the distance value of the distance measurement device 3 and the position occupied by the target 19 in the captured image ). ≪ / RTI >
    [2" claim-type="Currently amended] A device according to claim 1, characterized in that the distance measuring device (3) is arranged so as to be rotatable on at least one surface, in particular mainly two surfaces.
    [3" claim-type="Currently amended] 3. Apparatus according to claim 1 or 2, characterized in that the image recognition device (5) is an optoelectronic component (23), in particular a video camera with a charge coupled device device.
    [4" claim-type="Currently amended] A device according to any one of claims 1 to 3, characterized in that the distance measuring device (3) measures the round trip time of the reflected light beam after it has been emitted.
    [5" claim-type="Currently amended] Characterized in that the image recognition device (5) is made to react sensitively to the light beam (17) of the distance measuring device reflected by the target (19) Positioning device.
    [6" claim-type="Currently amended] A method for determining a distance and a spatial position of a target (19) with respect to a certain measuring point while an optical distance measuring device (3) provides a distance between a measuring point and a target (19)
    Two spatial coordinates are grasped in a plane parallel to the screen by using the image of the target 19 photographed from the measurement point,
    Wherein the third spatial coordinate is viewed from a distance value and from two different spatial coordinates.
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    同族专利:
    公开号 | 公开日
    EP0877951A1|1998-11-18|
    DE19603267A1|1997-07-31|
    WO1997028457A1|1997-08-07|
    ES2143257T3|2000-05-01|
    EP0877951B1|2000-02-16|
    JP2000504418A|2000-04-11|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    1996-01-30|Priority to DE19603267.9
    1996-01-30|Priority to DE19603267A
    1996-11-12|Application filed by 클라우스 포스, 게오르그 뮐러, 로베르트 보쉬 게엠베하
    1999-11-15|Publication of KR19990081876A
    优先权:
    申请号 | 申请日 | 专利标题
    DE19603267.9|1996-01-30|
    DE19603267A|DE19603267A1|1996-01-30|1996-01-30|Device for determining the distance and / or position|
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