| Abstract | 第1-9页 |
| Acknowledgments | 第9-18页 |
| 1 Introduction | 第18-30页 |
| ·Methods of optical distance measurement | 第19-20页 |
| ·Active principles | 第20-22页 |
| ·Interferometric method | 第21-22页 |
| ·Triangulation method | 第22-23页 |
| ·Time of flight method | 第23页 |
| ·Triangulation | 第23-26页 |
| ·Confocal method | 第23-24页 |
| ·White light confocal method | 第24-25页 |
| ·Astigmatic method | 第25-26页 |
| ·Classical triangulation | 第26页 |
| ·Application for classical triangulation sensors | 第26-28页 |
| ·Joint research project (PPP) | 第28页 |
| ·Structure of the thesis | 第28-30页 |
| 2 State of the art | 第30-38页 |
| ·Fundamental equations of the classical triangulation | 第30-32页 |
| ·Properties of the classical triangulation | 第32-35页 |
| ·Laser for illumination | 第33页 |
| ·Detector | 第33-34页 |
| ·Measurement object | 第34-35页 |
| ·Limits of the classical triangulations | 第35-37页 |
| ·Uncertainty of the classical triangulations | 第35-36页 |
| ·Problems of the classical triangulation | 第36页 |
| ·Existing solution of the typical problem of the classical triangulation | 第36页 |
| ·Disadvantage of the existing solution | 第36-37页 |
| ·Summary: Stat of the art | 第37-38页 |
| 3 Design Process of the rotationally symmetric triangulation sensor | 第38-76页 |
| ·New idea of a rotationally symmetric triangulation sensor | 第38-39页 |
| ·Fundamental equations of the rotationally symmetric triangulation | 第39-43页 |
| ·Equations for refractive surfaces | 第41-42页 |
| ·Equations for reflective surfaces | 第42-43页 |
| ·Optic design for rotationally symmetric triangulation | 第43-55页 |
| ·Optical System with one reflecting surface | 第43-45页 |
| ·Other configurations | 第45-55页 |
| ·Design process for an optical design for the rotational symmetric triangulation sensor | 第55-74页 |
| ·Definition of the new sensors' specifications | 第57-58页 |
| ·Calculation of further parameters | 第58-59页 |
| ·Choose possible optic layouts | 第59-61页 |
| ·Create first scaled model of the chosen optic layout | 第61-62页 |
| ·List parameters of the starting system for the calculation of the optics | 第62-65页 |
| ·Calculate the optic layout | 第65-66页 |
| ·First optic layout for ray tracing | 第66-67页 |
| ·Suitable optic design | 第67-68页 |
| ·Aspherisation of the optical surfaces | 第68页 |
| ·Optimization of the optical surfaces | 第68-73页 |
| ·Final optic design | 第73-74页 |
| ·Ranking | 第74-75页 |
| ·Summary: Design Process of the rotationally symmetric triangulation sensor | 第75-76页 |
| 4 Simulations | 第76-98页 |
| ·More detailed model for simulation | 第76-80页 |
| ·Model of the light spot | 第76-78页 |
| ·Sensitivity of the detector | 第78-79页 |
| ·Simulation results of different influences of the ring | 第79-80页 |
| ·Tolerance analysis and adjustment | 第80-92页 |
| ·Adjust illumination | 第80页 |
| ·Adjustment of the location of the measurement spot | 第80-84页 |
| ·Defocus of the measurement spot | 第84-87页 |
| ·Positional tolerance | 第87-92页 |
| ·Stray light simulation | 第92-93页 |
| ·Possible stray light sources | 第92页 |
| ·Internal reflections | 第92-93页 |
| ·Temperature influence of plastic optics | 第93-96页 |
| ·Refractive index | 第94页 |
| ·Thermal expansion | 第94-95页 |
| ·Influence of a temperature change of the measurement result | 第95-96页 |
| ·Summary: Simulation | 第96-98页 |
| 5 Integration of a second optical system for vision | 第98-120页 |
| ·Basic idea of the second optical system for vision | 第98-99页 |
| ·Available design space | 第99-101页 |
| ·Design space in optic design with two reflective surfaces | 第99-100页 |
| ·Design space in an optical design with two toroidal lenses | 第100-101页 |
| ·Short pass filter | 第101-102页 |
| ·Illumination for the vision system | 第102-103页 |
| ·Source and arrangement of the illumination | 第102页 |
| ·Brightness of the illumination | 第102-103页 |
| ·Optical design of an integrated vision system for RSTS | 第103-118页 |
| ·Requirements to the optical design of the vision system | 第103-104页 |
| ·First order layout of the vision system | 第104-105页 |
| ·Vision system - optical design with real lenses | 第105-106页 |
| ·Aberrations | 第106-109页 |
| ·Optical layout with thick lenses and low aberrations of the vision system | 第109-112页 |
| ·Available plastic for the lenses | 第112-113页 |
| ·Aperture for the vision system | 第113-115页 |
| ·Aspherisation | 第115页 |
| ·Optimization | 第115-116页 |
| ·Simulation of ths short pass filter | 第116-118页 |
| ·Summary: 5 Integration of a second optical system for vision | 第118-120页 |
| 6 Mechanical design | 第120-130页 |
| ·Mock-up | 第120-128页 |
| ·Adjustment elements | 第121-124页 |
| ·Optical System | 第124-126页 |
| ·Further components | 第126页 |
| ·First mock-up of the RSTS | 第126-127页 |
| ·Final mock-up | 第127-128页 |
| ·Summary: Mechanical design | 第128-130页 |
| 7 Measurement results | 第130-142页 |
| ·Measurement system | 第130-132页 |
| ·Measurement modes | 第131-132页 |
| ·Measurement results of the distance measurement | 第132-139页 |
| ·Properties of the ring for distance measurement | 第132-133页 |
| ·Influence of the measurement objects' texture to the ring | 第133-135页 |
| ·Characteristic curve | 第135-137页 |
| ·Robustness | 第137-139页 |
| ·Measurement results of the vision system | 第139-140页 |
| ·Summary: Measurement results | 第140-142页 |
| 8 Conclusions | 第142-144页 |
| 9 References | 第144-148页 |
