DE19902287B4 - Method and arrangement for the automatic adjustment of a laser scanner sensor - Google Patents
Method and arrangement for the automatic adjustment of a laser scanner sensor Download PDFInfo
- Publication number
- DE19902287B4 DE19902287B4 DE19902287A DE19902287A DE19902287B4 DE 19902287 B4 DE19902287 B4 DE 19902287B4 DE 19902287 A DE19902287 A DE 19902287A DE 19902287 A DE19902287 A DE 19902287A DE 19902287 B4 DE19902287 B4 DE 19902287B4
- Authority
- DE
- Germany
- Prior art keywords
- sensor
- laser scanner
- reflected radiation
- expected
- bodies
- 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
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
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
-
- 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
Landscapes
- 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)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Verfahren
zur automatischen Justage eines Laserscanner-Sensors (1), der sich
in bekannter Höhe
zum Boden befindet und dessen Ausrichtung mittels einer verstellbaren
Aufhängung
(2) veränderbar
ist, mittels zweier geometrisch wohldefinierter Körper (3,
4), die so geformt und positionierbar sind, dass bei ihrem Abscannen mit
dem Laserscanner-Sensor
(1) unter jeweils einer Nickwinkeleinstellung des Sensors (1) ein
Extremwert für
die Laufzeit der reflektierten Strahlung erwartet werden kann, bei
dem
– die
beiden Körper
(3, 4) innerhalb des Scanbereiches und der Reichweite des Sensors
(1) derart positioniert werden, dass ein Extremwert für die Laufzeit
der reflektierten Strahlung gerade bei einer gewünschten Nickwinkeleinstellung des
Sensors (1) zu erwarten ist,
– sukzessive die Laufzeit der
reflektierten Strahlung vom ersten Körper (3) gemessen und die Aufhängungseinstellungen
verändert
werden, bis sich der erwartete Extremwert tatsächlich einstellt,
– sukzessive
die Laufzeit der reflektierten Strahlung vom zweiten Körper (4)
gemessen und die Aufhängungseinstellungen
verändert
werden, bis sich...Method for the automatic adjustment of a laser scanner sensor (1), which is located at a known height to the ground and whose orientation by means of an adjustable suspension (2) is variable, by means of two geometrically well-defined body (3, 4), which are shaped and positioned in that during its scanning with the laser scanner sensor (1) an extreme value for the propagation time of the reflected radiation can be expected under each pitch angle setting of the sensor (1), in which
- The two bodies (3, 4) within the scan range and the range of the sensor (1) are positioned so that an extreme value for the duration of the reflected radiation is expected just at a desired pitch angle adjustment of the sensor (1)
Successively measuring the duration of the reflected radiation from the first body (3) and changing the suspension settings until the expected extreme value actually occurs,
- successively measured the duration of the reflected radiation from the second body (4) and the suspension settings are changed until ...
Description
Die Erfindung betrifft ein Verfahren und eine Anordnung zur automatischen Justage eines Laserscanner-Sensors.The The invention relates to a method and an arrangement for automatic Adjustment of a laser scanner sensor.
Derartige Laserscanner-Sensoren werden beispielsweise in Kraftfahrzeugen als Abstandssensorik verwendet. Hierzu überstreicht der Laserscanner kontinuierlich einen Bereich von beispielsweise 270°. Befindet sich innerhalb der Reichweite des Laserscanners ein Objekt wie beispielsweise ein anderes Kraftfahrzeug, so reflektiert dieses Objekt einen Teil der auftretenden Strahlung zurück zum Laserscanner, der dann aus Laufzeit und Richtung auf die Entfernung und Position des Objektes zurückschließen kann. Voraussetzung für die Funktionalität eines solchen Laserscanner-Sensors in einem System ist dessen einwandfreie Justierung, d. h. der Laserscanner muss einen definierten Nick- und Rollwinkel aufweisen, wobei der Nickwinkel angibt, unter welchem Winkel der Laserscanner-Sensor zur Fahrbahn bzw. zum Boden und der Rollwinkel die Scanebene im Verhältnis zum Horizont charakterisiert. Beispielsweise bedeuten 0° für Nick- und Rollwinkel, dass der Laserstrahl parallel zu Boden und Horizont ausgerichtet ist. Wie leicht ersichtlich ist, führen Abweichungen von einem Sollwinkel unmittelbar zu falschen Messergebnissen, was insbesondere bei Anwendungen in sicherheitsrelevanten Systemen nicht hinnehmbar ist. Bisher werden derartige Laserscanner-Sensoren manuell eingebaut und justiert, was sehr mühselig und zeitaufwendig ist.such Laser scanner sensors are used, for example, in motor vehicles Distance sensors used. For this, the laser scanner passes over continuously a range of for example 270 °. is within the range of the laser scanner an object such as another motor vehicle, this object reflects a part the occurring radiation back to the laser scanner, which then out of running time and direction to the distance and position of the object can close. requirement for the functionality such a laser scanner sensor in a system is its flawless Adjustment, d. H. the laser scanner must have a defined pitch and roll angle, wherein the pitch angle indicates at what angle the laser scanner sensor to the roadway or to the ground and the roll angle the scan plane in proportion characterized to the horizon. For example, 0 ° for pitch and roll angle that the laser beam parallel to the ground and horizon is aligned. As you can see, deviations from one result Target angle directly to false readings, which in particular unacceptable in applications in safety-related systems. So far, such laser scanner sensors are manually installed and adjusted, which is very tedious and time consuming.
Aus
der
Der Erfindung liegt das technische Problem zugrunde, ein Verfahren und eine Anordnung zur automatischen Justage von Laserscanner-Sensoren zu schaffen, mittels derer einfach auf beliebige Nick- und Rollwinkel justiert werden kann.Of the Invention is the technical problem underlying a method and an arrangement for the automatic adjustment of laser scanner sensors to create, by means of which simply on any pitch and roll angle can be adjusted.
Die Lösung des technischen Problems ergibt sich durch die Merkmale der Patentansprüche 1 und 2. Weitere vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.The solution The technical problem results from the features of claims 1 and 2. Further advantageous embodiments of the invention will become apparent from the dependent claims.
Dabei wird ausgenutzt, daß sich eine Ebene durch drei Punkte definieren läßt, wobei vorausgesetzt wird, daß die Höhe des Laserscanner-Sensors zum Boden bekannt ist, so daß die Justage mittels zweier geometrisch und/oder optisch wohldefinierter Körper vornehmen läßt, wobei wohldefiniert bedeutet, daß ein definierter Zusammenhang zwischen Höhe zum Boden und Entfernung zum Laserscanner-Sensor existiert. Optisch wohldefiniert drückt aus, daß an Stelle der Entfernung ein Zusammenhang zwischen Höhe und einer optisch vom Laserscanner erfaßbaren optischen Eigenschaft wie beispielsweise das Reflexionsvermögen existiert. Zur Justage werden nun die beiden Körper innerhalb des Scanbereiches angeordnet. Die Entfernung der beiden Körper vom Laserscanner-Sensor ist dabei abhängig vom einzustellenden Nickwinkel und der konkreten Ausbildung der Körper. Soll hingegen ein Nickwinkel von 0° justiert werden und weist der Körper in Höhe des Laserscanner-Sensors eine eindeutige Struktur auf, so ist die Entfernung beliebig innerhalb der Reichweite wählbar. Zur Justage erfolgt zunächst die Einstellung an einem Körper. Hierzu ist der Körper unter den zuvor dargestellten Voraussetzungen derart positioniert, daß unter dem gewünschten Nickwinkel sich ein definierter Wert, vorzugsweise ein Extremwert für die reflektierte Strahlung einstellt. Anschließend wird gesendet, empfangen, ausgewertet und verstellt, bis der Laserscanner-Sensor vordefinierten Wert bzw. den Extremwert und damit den gewünschten Nickwinkel gefunden hat. Anschließend wird das Verfahren am zweiten Körper mit dem gleichen oder einem anderen Nickwinkel wiederholt. Dadurch wird die Scanebene und somit der Rollwinkel eindeutig festgelegt.there is exploited that define a plane by three points, assuming that that the Height of Laser scanner sensor is known to the ground, so that the adjustment by means of two geometrically and / or optically well-defined body make leaves, where well-defined means that a defined relationship between height to the ground and distance to the laser scanner sensor exists. Optically well-defined expresses that on Set the distance a relationship between height and one optically detectable by the laser scanner optical property such as the reflectivity exists. For adjustment, the two bodies are now within the scan area arranged. The removal of the two bodies from the laser scanner sensor depends on it of the pitch to be set and the concrete training of the Body. On the other hand, if a pitch angle of 0 ° is adjusted and has the body in height of the laser scanner sensor on a unique structure, so is the Distance arbitrary within the range selectable. To adjust takes place first the Attitude on a body. This is the body positioned in such a way under the conditions described above, that under the desired one Nick angle is a defined value, preferably an extreme value for the sets reflected radiation. Then it sends, receives, evaluated and adjusted until the laser scanner sensor predefined Value or the extreme value and thus the desired pitch angle found Has. Subsequently, will the procedure on the second body repeated with the same or a different pitch angle. Thereby the scan plane and thus the roll angle is clearly defined.
In einer weiteren bevorzugten Ausführungsform sind die Körper als Rotationskörper ausgebildet. Dies vereinfacht die Ausrichtung der Körper zum Laserscanner-Sensor. Die Körper sind dabei vorzugsweise als Kegel oder Doppelkegel oder Kugeln ausgebildet. Insbesondere Doppelkegel und Kugeln weisen den Vorteil auf, daß diese einen ausgezeichneten Extremwert innerhalb des Körpers aufweisen, was das Auffinden des Extremwertes beim sukzessiven Messen erleichtert.In a further preferred embodiment are the bodies as a rotation body educated. This simplifies the alignment of the body to Laser scanner sensor. The body are preferably designed as cones or double cone or balls. In particular, double cones and balls have the advantage that these have an excellent extreme within the body, what the finding the extreme value during successive measurements easier.
In einer alternativen Ausführungsform kann der Körper an exponierten Stellen mit charakteristischen optischen Eigenschaften ausgebildet sein.In an alternative embodiment, the body may be characterized at exposed sites be formed optical properties.
In einer weiteren bevorzugten Ausführungsform sind die beiden Körper identisch ausgebildet, so daß die Justageschnitte für beide Körper identisch sind, was den Ablauf vereinfacht.In a further preferred embodiment are the two bodies identical, so that the Adjustment cuts for both bodies are identical, which simplifies the process.
Die Erfindung wird nachfolgend anhand einer bevorzugten Ausführungsform näher erläutert. Die Fig. zeigen:The Invention will be described below with reference to a preferred embodiment explained in more detail. The Fig. Show:
Die
Anordnung zur automatischen Justage eines Laserscanner-Sensors
Im
dargestellten Ausführungsbeispiel
soll der Laserscanner-Sensor
Im
ersten Verfahrensschritt wird der Laserscanner-Sensor
Anstelle
der Doppelkegel
Prinzipiell kann mittels des beschriebenen Verfahrens jeder gewünschte Nickwinkel α oder Rollwinkel automatisch justiert werden.in principle can by means of the method described any desired pitch angle α or roll angle automatically adjusted.
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19902287A DE19902287B4 (en) | 1999-01-21 | 1999-01-21 | Method and arrangement for the automatic adjustment of a laser scanner sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19902287A DE19902287B4 (en) | 1999-01-21 | 1999-01-21 | Method and arrangement for the automatic adjustment of a laser scanner sensor |
Publications (2)
Publication Number | Publication Date |
---|---|
DE19902287A1 DE19902287A1 (en) | 2000-07-27 |
DE19902287B4 true DE19902287B4 (en) | 2009-04-30 |
Family
ID=7894951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE19902287A Expired - Fee Related DE19902287B4 (en) | 1999-01-21 | 1999-01-21 | Method and arrangement for the automatic adjustment of a laser scanner sensor |
Country Status (1)
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015119707B3 (en) * | 2015-11-16 | 2017-05-18 | Sick Ag | Method for aligning a laser scanner and laser scanner arrangement |
DE102018117937A1 (en) * | 2018-07-25 | 2020-01-30 | Valeo Schalter Und Sensoren Gmbh | Method for determining the pitch angle of a vehicle's environmental sensor |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10116278B4 (en) * | 2001-03-31 | 2014-10-16 | Volkswagen Ag | Method for adjusting at least one distance sensor arranged on a vehicle by means of a reference object and reference object therefor |
DE10217294A1 (en) * | 2002-04-18 | 2003-11-06 | Sick Ag | sensor orientation |
DE10217295B4 (en) * | 2002-04-18 | 2014-05-15 | Ibeo Automotive Systems GmbH | Determining the orientation of an optoelectronic sensor |
DE102004033114A1 (en) * | 2004-07-08 | 2006-01-26 | Ibeo Automobile Sensor Gmbh | Method for calibrating a distance image sensor |
DE102004047505B4 (en) * | 2004-09-28 | 2010-05-20 | Daimler Ag | Method for detecting the misalignment of a distance sensor in the horizontal plane during driving and a corresponding distance sensor |
JP4428208B2 (en) * | 2004-11-16 | 2010-03-10 | 株式会社デンソー | Vehicle object recognition device |
DE102008016188A1 (en) | 2008-03-26 | 2009-10-01 | Robot Visual Systems Gmbh | Method for the parallel alignment of a laser scanner to a roadway |
DE102010056052A1 (en) * | 2010-12-23 | 2012-06-28 | Valeo Schalter Und Sensoren Gmbh | Optical measuring device for vehicle, has sensor device that is connected with vehicle by holding device, where manual adjusting unit is coupled with sensor device by deflection unit |
DE102012102651B3 (en) * | 2012-03-27 | 2013-07-18 | Jenoptik Robot Gmbh | Test device and test method for a traffic monitoring device with a laser scanner |
DE102013114821B3 (en) | 2013-12-23 | 2014-10-23 | Jenoptik Robot Gmbh | Method for aligning a laser scanner to a roadway |
WO2022190476A1 (en) * | 2021-03-08 | 2022-09-15 | 住友電気工業株式会社 | Radio wave sensor, and method for adjusting radio wave sensor |
DE102021121220A1 (en) | 2021-08-16 | 2023-02-16 | Jungheinrich Aktiengesellschaft | Adjustable suspension for a scanning device of an industrial truck and combination of such a suspension with a scanning device of an industrial truck |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015119707B3 (en) * | 2015-11-16 | 2017-05-18 | Sick Ag | Method for aligning a laser scanner and laser scanner arrangement |
EP3176606A2 (en) | 2015-11-16 | 2017-06-07 | Sick Ag | Method for aligning a laser scanner |
DE102015119707B8 (en) * | 2015-11-16 | 2017-08-24 | Sick Ag | Method for aligning a laser scanner and laser scanner arrangement |
EP3176606A3 (en) * | 2015-11-16 | 2017-11-29 | Sick Ag | Method for aligning a laser scanner |
DE102018117937A1 (en) * | 2018-07-25 | 2020-01-30 | Valeo Schalter Und Sensoren Gmbh | Method for determining the pitch angle of a vehicle's environmental sensor |
DE102018117937B4 (en) * | 2018-07-25 | 2020-12-03 | Valeo Schalter Und Sensoren Gmbh | Method for determining the pitch angle of an environmental sensor of a vehicle |
Also Published As
Publication number | Publication date |
---|---|
DE19902287A1 (en) | 2000-07-27 |
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