阅读说明：本技术 用于测量涂漆对象的反射率的系统和方法 (System and method for measuring the reflectivity of painted objects ) 是由 拉里·E·斯蒂恩胡克 罗伯特·V·坎宁 于 2019-12-26 设计创作，主要内容包括：本发明公开了用于测量涂漆对象的反射率的系统和方法,该系统包括：电磁波源,其发射电磁波；面板,其保持涂漆对象,其中该面板能够移动以调节电磁波至该面板上的入射角；反射器,其用于接收并引导由涂漆对象朝向反射器反射的电磁波；检测器,其用于检测电磁波的强度；以及控制单元。控制单元通信地连接至面板和检测器。控制单元确定电磁波的入射角,接收由检测器检测到的电磁波的强度,并且根据由检测器检测到的在预定的入射角值范围内的电磁波的强度来确定涂漆对象的反射率。(The invention discloses a system and a method for measuring the reflectivity of a painted object, the system comprising: an electromagnetic wave source that emits an electromagnetic wave; a panel that holds a painting object, wherein the panel is movable to adjust an incident angle of electromagnetic waves onto the panel; a reflector for receiving and directing electromagnetic waves reflected by the painted object towards the reflector; a detector for detecting an intensity of the electromagnetic wave; and a control unit. The control unit is communicatively connected to the panel and the detector. The control unit determines an incident angle of the electromagnetic wave, receives an intensity of the electromagnetic wave detected by the detector, and determines a reflectance of the painting object from the intensity of the electromagnetic wave detected by the detector within a predetermined incident angle value range.)

1. A system for measuring reflectance of a painted object, the system comprising:

an electromagnetic wave source configured to emit an electromagnetic wave;

a panel configured to hold the painting object, wherein the panel is movable to adjust an incident angle of electromagnetic waves onto the panel;

a reflector arranged to receive and direct electromagnetic waves reflected by the painted object towards the reflector;

a detector configured to detect an intensity of the electromagnetic wave; and

a control unit;

wherein the control unit is communicatively connected to the panel and the detector,

wherein the control unit is configured to determine an angle of incidence of the electromagnetic wave, receive an intensity of the electromagnetic wave detected by the detector, and determine the reflectivity of the painted object according to the intensity of the electromagnetic wave detected by the detector within a predetermined range of angle of incidence values.

2. The system of claim 1, wherein the first and second sensors are disposed in a common housing,

wherein the electromagnetic wave source is a laser configured to emit electromagnetic waves in a range between 10 μm to 250 nm.

3. The system according to claim 1 or 2,

wherein the panel is rotatable about a rotation axis to vary an angle of incidence.

4. The system according to any one of the preceding claims,

further comprising an actuator mechanically coupled to the panel,

wherein the actuator is communicatively connected to the control unit;

wherein the control unit is configured to send commands to the actuator to move the panel to a desired angular position to adjust a predetermined angle of incidence value.

5. The system according to any one of the preceding claims,

wherein the reflector comprises a reflective surface;

wherein the reflective surface is curved such that it bundles and reflects electromagnetic waves towards the detector.

6. The system according to any one of the preceding claims,

wherein the reflector is a beam splitter;

wherein the beam splitter is disposed between the electromagnetic wave source and the panel.

7. The system of claim 6, wherein the first and second sensors are arranged in a single package,

wherein the beam splitter is tilted with respect to the incident direction of the electromagnetic waves such that the electromagnetic waves reflected by the painted object towards the beam splitter are at least partially redirected towards the detector.

8. The system according to any one of the preceding claims,

wherein the control unit is configured to control the electromagnetic wave source to emit a laser beam at a predetermined first intensity, to generate and send a command indicating that the panel is rotated to a given position and/or direction, and to determine a second intensity of the electromagnetic wave detected by the detector;

wherein the control unit is configured to determine the reflectivity of the painted object for a plurality of angular positions of the panel by determining for each angular position a share of the second intensity proportional to the first intensity.

9. The system of any preceding claim, further comprising:

painting an object;

wherein the painted object is positioned on a surface of the panel such that electromagnetic waves impinge on and are reflected by the painted object.

10. A system for measuring reflectance of a painted object, the system comprising:

a panel configured to hold the painted object;

an electromagnetic wave source configured to emit electromagnetic waves such that the electromagnetic waves strike the panel at a predetermined incident angle with respect to the panel;

a detector configured to detect an intensity of an electromagnetic wave reflected by the painted object at a predetermined reflection angle with respect to a surface of the panel; and

a control unit;

wherein the control unit is communicatively connected to the electromagnetic wave source and the detector;

wherein the control unit is configured to determine an intensity of the electromagnetic wave emitted toward the panel, receive the intensity of the electromagnetic wave detected by the detector, and determine the reflectance of the painted object from the intensity of the electromagnetic wave detected by the detector and the intensity detected by the detector.

11. A method for measuring the reflectivity of a painted object, the method comprising the steps of:

emitting electromagnetic waves towards the painted object by an electromagnetic wave source;

rotating the painted object by a movable panel to adjust an incident angle of electromagnetic waves onto the painted object;

determining, by a detector, an intensity of electromagnetic waves reflected by the painted object;

determining, by a control unit, an angle of incidence of the electromagnetic wave;

receiving, by the control unit, an intensity of an electromagnetic wave from the detector; and

determining, by the control unit, a reflectance of the painted object according to the intensity of the electromagnetic wave within a predetermined range of incident angle values determined by the detector.

Technical Field

The present description relates to systems and methods for measuring reflectance of painted objects. The present description relates in particular to a system and method for measuring lidar reflectivity of painted objects.

Background

Surface coatings such as monocoats, clearcoats/colorcoats, and tricoats are advantageous for protecting and decorating substrates such as vehicle bodies. The surface coating may utilize one or more pigments or effect pigments to impart a desired color or appearance to the vehicle body, such as solid feel, metallic feel, pearlescent effect, gloss, or clarity of the image. Metallic flakes such as aluminum flakes and pearlescent flakes are commonly used to produce coatings having a flake appearance such as texture, sparkle, glow and sparkle, as well as enhanced perception of depth of the coating imparted by the flakes.

The laser radar is a technique of measuring a distance to a target by irradiating the target with a pulsed laser and measuring a reflected pulse with a sensor. Lidar is one of the key enabling sensing technologies used in the development of autonomous vehicles. Lidar systems for autonomous vehicle applications typically use lasers in the near infrared region of the electromagnetic spectrum. Typically, a pulse of light is transmitted from the lidar unit and the measured time delay for the reflected pulse sensed by the lidar unit is used to calculate the distance between the reflecting object and the lidar unit.

Thus, there is a need to determine the lidar reflectivity of an object coated with a given paint or coating.

Disclosure of Invention

One aspect relates to a system for measuring reflectance of a painted object, the system comprising: an electromagnetic wave source configured to emit an electromagnetic wave; a panel configured to hold a painting object, wherein the panel is movable to adjust an incident angle of electromagnetic waves onto the panel; a reflector arranged to receive and direct electromagnetic waves reflected by the painted object towards the reflector; a detector configured to detect an intensity of the electromagnetic wave; and a control unit. The control unit is communicatively connected to the panel and the detector. The control unit is configured to determine an angle of incidence of the electromagnetic wave, receive an intensity of the electromagnetic wave detected by the detector, and determine a reflectivity of the painting object from the intensity of the electromagnetic wave detected by the detector within a predetermined range of angle of incidence values.

Another aspect relates to a system for measuring reflectance of a painted object, the system comprising: a panel configured to hold a painted object; an electromagnetic wave source configured to emit an electromagnetic wave such that the electromagnetic wave strikes the panel at a predetermined incident angle with respect to the panel; a detector configured to detect an intensity of an electromagnetic wave reflected by the painted object at a predetermined reflection angle with respect to a surface of the panel; and a control unit. The control unit is communicatively connected to the electromagnetic wave source and the detector. The control unit is configured to determine an intensity of the electromagnetic waves emitted towards the panel. The control unit is further configured to receive the intensity of the electromagnetic wave detected by the detector. The control unit is further configured to determine the reflectivity of the painted object from the intensity of the electromagnetic waves detected by the detector and the intensity detected by the detector.

Another aspect relates to a method for measuring the reflectivity of a painted object, the method comprising the steps of: emitting electromagnetic waves from an electromagnetic wave source towards the painted object; rotating the painted object by a movable panel to adjust an incident angle of the electromagnetic wave onto the painted object; determining, by a detector, an intensity of the electromagnetic wave reflected by the painted object; determining, by a control unit, an angle of incidence of the electromagnetic wave; receiving, by the control unit, an intensity of the electromagnetic wave from the detector; and determining, by the control unit, the reflectivity of the painted object according to the intensity of the electromagnetic wave determined by the detector within a predetermined range of incidence angle values.

Drawings

Fig. 1 shows a representative configuration of sensor technology and its application in a vehicle.

Fig. 2 shows an illustrative use case of a lidar sensing technique.

Fig. 3 shows an exemplary embodiment of a system for measuring the reflectivity of a painted object.

Fig. 4 shows the measured reflection factor with respect to the angle of incidence of the lidar signal onto the panel.

Fig. 5 shows an exemplary embodiment of a system for measuring the reflectivity of a painted object.

Fig. 6 shows the measured reflection factor with respect to the angle of incidence of the lidar signal onto the panel.

Fig. 7 shows two measured reflection factors with respect to the angle of incidence of the lidar signal onto panels with different coatings.

Fig. 8 shows an exemplary embodiment of a system for measuring the reflectivity of a painted object.

Fig. 9 shows an exemplary embodiment of a system for measuring the reflectivity of a painted object.

Fig. 10 exemplarily shows the measured geometry and the sheet angle of the effect painted surface.

Fig. 11 shows an exemplary embodiment of a system for measuring the reflectivity of a painted object.

Fig. 12A-12C illustrate example geometries for measuring sheet corners.

Fig. 13 illustrates exemplary diffuse and interfacial reflections.

Fig. 14 and 15 show exemplary interface reflections as a function of incident angle.

Fig. 16 illustrates an exemplary method according to an embodiment.

Detailed Description

The features and advantages of the present disclosure will be more readily understood by those of ordinary skill in the art from a reading of the following detailed description. It is to be understood that certain features of the disclosure, which are, for clarity, described above and below in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the disclosure which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any subcombination. In addition, reference to the singular may also include the plural (e.g., "a" and "an" may refer to one or more) unless the context clearly dictates otherwise.

Unless expressly stated otherwise, the use of numerical values in the various ranges specified in this application are expressed as approximations, as the minimum and maximum values within the stated ranges are preceded by the word "about". In this manner, minor variations above and below the stated ranges can be used to achieve substantially the same results as values within the stated ranges. Moreover, the disclosure of these ranges is intended as a continuous range including every value between the minimum and maximum values.

As used herein:

the term "pigment" or "pigments" as used herein refers to one or more colorants that produce one or more colors. Pigments may be derived from natural or synthetic sources and may be made from organic or inorganic components. Pigments also include metal particles or flakes having specific or mixed shapes and sizes. Pigments are generally insoluble in the coating composition.

The term "effect pigment" or "multiple effect pigments" refers to pigments that produce a special effect in a coating. Examples of effect pigments include, but are not limited to, light scattering pigments, light interference pigments, and light reflective pigments. Flakes (e.g., metal flakes, such as aluminum flakes) are examples of such effect pigments.

Gonioapparent flakes refer to flakes that change color or appearance, or a combination thereof, with a change in illumination angle or viewing angle. Metallic flakes, such as aluminum flakes, are examples of gonioapparent flakes.

The term "dye" refers to one or more colorants that produce one or more colors. The dye is typically soluble in the coating composition.

As used herein, "appearance" means: (1) observing or identifying aspects of the visual experience of the coating; and (2) perception of the spectral and geometric aspects of the coating in conjunction with its illumination and viewing environment. Typically, the appearance includes texture, sparkle, or other visual effect of the coating, particularly when viewed from varying viewing angles and/or under varying illumination angles.

The term "database" refers to a collection of related information that may be searched and retrieved. The database may be a searchable electronic numeric, alphanumeric, or text document; searchable PDF documents; microsoft WindowsA spreadsheet; microsoft WindowsDatabases (both Microsoft corporation of Redmond, Washington, Redmond, Washington)Providing);a database (provided by Oracle corporation of Redwood Shores, California); or Linux databases, each registered under a respective trademark. A database may be a collection of electronic documents, photographs, images, charts or drawings that reside in a computer-readable storage medium that may be searched and retrieved. The database may be a single database or a group of related databases or a group of unrelated databases. By "relational database" is meant that there is at least one common information element in the relational database that can be used to relate such databases. An example of a relational database may beA relational database.

Each of the terms "vehicle," "automobile," "automotive vehicle," and "motor vehicle" refers to: motor vehicles such as cars, vans, minivans, buses, SUVs (sport utility vehicles); a truck; a semi-truck; a tractor; a motorcycle; a trailer; ATV (all terrain vehicle); pick-up trucks; heavy dozers such as bulldozers, mobile cranes, and excavators; an aircraft; a vessel; a vessel; and other modes of transport coated with the coating composition.

Computing device, as used herein, refers to a desktop computer, a laptop computer, a pocket PC, a Personal Digital Assistant (PDA), a handheld electronic processing device, a smart phone that combines the functionality of a PDA and a mobile phone, an iPod/MP player, a tablet computer, or any other electronic device that can automatically process information. The computing device may have a wired or wireless connection to a database or another computing device. The computing device may be a client computer that communicates with a host computer in a multi-computer client host system connected via a wired or wireless network, including intranets and the internet. The computing device may also be configured to couple with a data input or output device via a wired or wireless connection. For example, a laptop computer may be operably configured to receive color data and images over a wireless connection. A computing device may also be a subunit of another device. Examples of such subunits may be processing chips in imaging devices, spectrophotometers or goniospectrophotometers. The computing device may be connected to a display device, such as a monitor screen.

The control unit referred to herein may be a computing device. The control unit includes at least a processor, microcontroller, or programmable logic or a combination thereof that executes instructions to perform the functions described herein.

"portable computing devices" include laptop computers, pocket PCs, Personal Digital Assistants (PDAs), handheld electronic processing devices, mobile phones, smart phones that combine the functionality of PDAs and mobile phones, tablet computers, ipods, iPod/MP players, or any other standalone device or subunit device that can process information and data and can be carried by a person.

Wired connections include hard couplers, splitters, connectors, cables, or wires. Examples of wireless connections and devices include, but are not limited to: Wi-Fi equipment, Bluetooth equipment, Wide Area Network (WAN) wireless equipment, Wi-Max equipment, Local Area Network (LAN) equipment, 3G/4G/5G broadband equipment, infrared communication equipment, optical data transmission equipment, a radio transmitter and optional receiver, a wireless telephone adapter card, or any other equipment that can transmit signals at a wide range of electromagnetic wavelengths including radio frequencies, microwave frequencies, visible wavelengths, or invisible wavelengths.

The term "memory" refers to a computer-readable storage device or medium and may include volatile and non-volatile memory in, for example, Read Only Memory (ROM), Random Access Memory (RAM), and non-volatile memory (KAM). The KAM is a persistent or non-volatile memory that can be used to store various operating variables when the processor is powered down. The computer-readable storage device or medium may be implemented using any of a number of known storage devices, such as PROMs (programmable read Only memory), EPROMs (electronic PROMs), EEPROMs (electrically erasable PROMs), flash memory, or any other electric, magnetic, optical, or combination storage device capable of storing data, some of which represent executable instructions used by a processor to perform the steps described herein.

The present disclosure relates to systems and methods for measuring reflectance of painted objects. In particular, the reflectivity is measured by using a laser diode.

The laser radar is a technique of measuring a distance to a target by irradiating the target with a pulsed laser and measuring a reflected pulse with a sensor. Lidar is one of the key enabling sensing technologies used in the development of autonomous vehicles. It is important that the lidar system be able to detect all vehicles regardless of the color or type of paint used on the vehicle. Lidar systems for autonomous vehicle applications typically use lasers in the near infrared region of the electromagnetic spectrum. A light pulse is transmitted from the lidar unit and the measured time delay for the reflected pulse sensed by the lidar unit is used to calculate the distance between the reflecting object and the lidar unit. Many factors affect the intensity of the reflected light, including range, angle of incidence, and surface composition. When a light pulse from the lidar unit hits the (painted) surface, the light pulse may be absorbed by the surface or scattered/reflected from the surface. The percentage of light retroreflected back into the lidar unit is a function of: paint pigmentation, paint architecture (solid vs. effect) and angle of incidence of the light pulse to the surface normal of the sample.

Lidar systems are typically configured to scan areas at medium to long distances, and at these distances, a relatively large area is typically being sampled at all times. Due to the long sensing distance and large field of view, these lidar systems are not suitable for measurement of small samples typically used in paint laboratories. Additionally, these lidar systems do not have the ability to adjust the angle of incidence of the lidar beam to the test panel in a convenient manner. What is needed to characterize the lidar sensitivity of various laboratory-scale painted samples is a device that measures the retroreflectivity of these painted samples at the lidar wavelength as a function of angle of incidence.

The system and method of the present disclosure satisfies this need. In particular, the system of the present disclosure includes a reflectometer, such as a laser angle reflectometer or retro-reflectometer, for measuring the reflectance of painted panels at laser radar wavelengths as a function of the angle of incidence. The system is capable of making these measurements with high angular resolution and high signal dynamic range on small laboratory painted panels (e.g., 4 "x 6" in size).

FIG. 1 schematically illustrates a vehicle 10 having several sensor technologies and applications thereof. The vehicle 10 includes an ultrasound system 12, the ultrasound system 12 typically being used for parking assistance with short range. Short and medium range radar systems 14 are used for cross traffic alerts, blind spot detection and rear collision warning. Optical sensors 16, such as cameras, having a range greater than that of the short and medium range radar systems 14 may be used for traffic sign recognition, lane departure warning, peripheral vision, and parking assistance. For even greater range, lidar system 18 may be used to avoid collisions, pedestrian detection, or emergency braking. The remote radar system 20 may be used for adaptive cruise control. The systems and methods described herein may be used in any system that uses lidar. In particular, the systems and methods described herein may be part of a lidar system 18. However, the principles of the systems and methods described herein may also be used in a remote radar to determine the effect of the reflectivity of the coating on the remote radar distance measurement.

Fig. 2 shows an exemplary working principle of a lidar scanner. The lidar scanner needs to be able to detect objects over a wide range of angles depending on the position of the object 10a, 10b relative to the vehicle 10 containing the sensor. In fig. 2, reference numeral 10 generally identifies a vehicle having a distance sensor, and reference numerals 10a and 10b identify vehicles within the detection range of the distance sensor of the vehicle 10. The vehicle 10b is at a position near the retroreflector directly in front of the vehicle 10. The vehicle 10a is at a swept angle position with respect to the front of the vehicle 10 in the adjacent lane. The vehicle 10 emits at least one primary light beam 22, the at least one primary light beam 22 being reflected by at least one of the objects 10a, 10b in front of the vehicle 10. The vehicles 10a, 10b send back a reflected beam 24. The object 10a may also reflect the divergent beam 22. Thus, the intensity of the reflected beam 24 may be lower than the intensity of the main beam 22. In the case of retro-reflection (vehicle 10b), the intensity of the reflected beam may be close to that of the main beam. However, this depends on the nature of the lacquer layer.

To evaluate the ability of the painted film to reflect the lidar wavelength, it is necessary to determine the sample reflectivity at the lidar wavelength from the angle of incidence of the primary beam 22 onto the surface of the inspected object. The pure colors typically act as "lambertian" scatterers. Their reflectivity is largely independent of the angle of incidence of the main beam. The effect colors may be highly directional and their reflectivity may vary greatly over the desired range of angles. This is similar to the brightness jump (luminance flop) of effect colors when viewed in the visible wavelength range. Reflectance measurements made on instruments used to measure Total Solar Reflectance (TSR) are not useful here. Although they include a suitable wavelength range, they also utilize sphere geometry to average out any angular behavior. Thus, the systems and methods described herein utilize a laser radar wavelength angle reflectometer.

Fig. 3 shows a system 100 for measuring the reflectivity of a painted object 112. The system 100 includes an electromagnetic wave source 102, the electromagnetic wave source 102 configured to emit electromagnetic waves. The light source may be a light emitter, in particular a laser diode, and emits a main light beam 22. System 100 also includes a panel 106, the panel 106 configured to hold a painted object 112, wherein the panel is movable to adjust an angle of incidence of electromagnetic waves 22 onto the panel. The system 100 further comprises a reflector 108, which reflector 108 is arranged to receive and direct the electromagnetic waves 24 (i.e. one or more reflected light beams) reflected by the painted object 112 towards the reflector 108. The system 100 further comprises a detector 110, the detector 110 being configured to detect the intensity of the electromagnetic wave of the reflected beam 24. The system 100 further comprises a control unit 114 (see fig. 5). The control unit 114 is communicatively connected to the panel and the detector. The control unit is configured to determine an angle of incidence of the electromagnetic wave 22 onto the panel or the painted object, receive the intensity of the electromagnetic wave 24 detected by the detector, and determine the reflectivity of the painted object according to the intensity of the electromagnetic wave 24 detected by the detector 110 within a predetermined range of angle of incidence values.

The detector 110 may determine the intensity of the electromagnetic wave 24, which is normalized to the intensity of the light beam 24.

The painted object 112 may be painted into a flat sample. The normal to the painted object 112 and the normal to the surface of the panel to which the painted object is fixed may be parallel.

The panel 106 is designed such that the painted object or painted sample is secured or mounted to the surface of the panel. When the panel 106 is moved or rotated, the painting object is also moved or rotated, thereby adjusting an incident angle of the electromagnetic wave with respect to the painting object.

The angle of incidence may be measured with reference to the surface of the panel or the surface of the painted object. Thus, the angle of incidence is the angle between the surface of the panel and the direction of incidence of the electromagnetic wave 22. In this case, when a flat plate is used, the incident angle may be between 0 and 180 degrees. However, the angle of incidence with respect to the surface normal, defined as 0 degrees, can also be measured. In this case, the incident angle may take a value between-90 degrees and +90 degrees.

The control unit may be a computer configured to perform the functions and to control the components of the system 100 according to the functions described above and below. The computer may be configured to bi-directionally communicate with at least the detector (for receiving the intensity of the reflected beam 24) and the panel (for sending commands for rotating the panel).

The reflectivity may in particular be a level of reflectivity indicating a ratio of the intensity of the reflected or detected electromagnetic wave 24 relative to the intensity of the emitted electromagnetic wave 22.

The system 100 may include a lens 104, the lens 104 being arranged such that the primary beam 22 passes through the lens.

In one embodiment, the electromagnetic wave source 102 is a laser configured to emit electromagnetic waves in a range between 10 μm to 250 nm.

The wavelength of the laser light may vary depending on the particular use case, detection range, size of the object to be detected, and the like. The laser may be a lighting unit 101 (see fig. 11) and comprises a laser diode 102 and a lens 104. Any known laser suitable for distance detection purposes may be used.

The laser light 22 is emitted in pulses or continuously towards the painted object 112.

In one embodiment, the electromagnetic wave source 102 is a light emitting diode or incandescent light source.

In this embodiment, the system may further comprise a filter (not shown) arranged to limit the bandwidth of the electromagnetic wave source to a desired wavelength range. Preferably, the filter is arranged between the electromagnetic wave source 102 and the painted object 112. Therefore, the bandwidth of the electromagnetic wave guided toward the panel is limited to a predetermined wavelength range.

In one embodiment, the panel 106 is rotatable about an axis of rotation to vary the angle of incidence of the primary beam 22 onto the surface of the painted object. In fig. 3, changing the angle of incidence is indicated by a circular arrow on top of the panel 106. In this embodiment, the panel 106 rotates in a clockwise direction.

As can be seen in fig. 3, the painted object 112 is secured to the surface of the panel 106. The main beam 22 is reflected in multiple directions. Not only is there one secondary beam 24, but the primary beam 22 is generally scattered. The intensity of the scattered light varies depending on the angle of incidence of the main beam 22 and the position of the measurement reflected beam 24.

The panel 106 is arranged opposite the electromagnetic wave source 102 such that the electromagnetic wave 22 is emitted by the electromagnetic wave source towards the panel. In particular, the main beam 22 is emitted directly towards the panel, i.e. towards the sample object. Alternatively, the panel and the laser may be arranged such that the emitted electromagnetic waves are redirected on their way from the laser to the panel, e.g. by one or more reflective surfaces. However, the angle of incidence is measured between the direction of the panel or painted object and the direction of the electromagnetic wave 22 when it strikes the surface of the painted object or panel.

In one embodiment, the reflector 108 comprises a reflective surface, wherein the reflective surface is curved such that it bundles the electromagnetic wave 24 and reflects the electromagnetic wave 24 towards the detector 110.

In one embodiment, the reflective surface comprises a reflective coating. The reflective coating has the function of a mirror and may comprise metal and/or glass. The reflector may also be a parabolic reflector. The reflected beam 24 is reflected towards the parabolic reflector. The reflector bundles the beam 24 and directs the beam 24 to the detector 110.

Fig. 4 exemplarily shows the reflection factor of the painted object with respect to the panel rotation angle, i.e. with respect to the incident angle of the main beam. The reflection factor is normalized to a reference reflectivity of 1.0. As can be seen in fig. 4, the reflection factor at 0 ° is higher than 1.0, i.e. the reflectivity of the respective coating is higher than the reflectivity of the reference coating at 0 °. As the angle of incidence increases, the reflection factor approaches 1.0. At about 10 °, the reflection factor is 1.0.

Fig. 5 shows a system 100 similar to the system shown in fig. 3. However, in fig. 5, the reflectance of the painted object is different. Further, in fig. 5, the control unit 114 is shown. The control unit 114 is communicatively connected to at least the laser diode 102 and the detector 110. The control unit 114 may control the laser diode to emit the main beam. Further, the control unit 114 receives the detected intensity of the reflected light beam 24 from the detector 110.

Fig. 6 shows the reflection factor with respect to the panel rotation (angle of incidence of the main beam onto the painted object). In contrast to fig. 4, the reflection factor is very high (much higher than 1.0) for angles between 0 ° and 10 °, whereas for angles of 15 ° or more the reflection factor is clearly below 1.0. In other words, the reflection characteristics of the coatings to which the graphs of fig. 4 and 6 belong are different.

The system 100 described herein enables the reflectivity of the painted object to be determined from the angle of incidence of the main beam and the reflection characteristics of the different colors or coatings to be compared to each other and/or to a reference coating. This is shown in fig. 7.

Fig. 7 shows the retroreflectivity factor of a painted object with respect to the angle of incidence of the main beam between-75 ° and +75 ° with respect to the sample normal. The reference reflection characteristic is shown at 150. Also shown are the reflective properties 152 and 154 of the painted object with the first and second coatings. It can be seen that the reflection characteristic is symmetric about the sample normal of 0 °. Further, the intensity of the reflected beams 152, 154 may be compared to the reference reflection 150.

Fig. 8 shows a system 100 similar to the systems shown in fig. 3 and 5. In fig. 8, an actuator 116 is shown, the actuator 116 being coupled to the panel to rotate the painted object 112. The actuator 116 is communicatively coupled to the control unit 114 by a wired connection (the same as the wired connections between the control unit 114 and the detector 110 and between the control unit 114 and the laser diode 102). The wired connection may be used to transmit power and/or commands from the control unit to the actuator.

The angle of incidence 118 of the main beam 22 onto the painted object is measured between the surface of the painted object and the direction of the main beam 22. The angle of incidence 118 changes when the actuator is commanded to rotate the painted object clockwise or counterclockwise.

The actuator 116 is mechanically coupled with the panel 106 and communicatively connected to the control unit 114. The control unit 114 is configured to send commands to the actuators to move the panel to a desired angular position to adjust the predetermined angle of incidence value 118.

The control unit 114 controls the actuator 116 and the actuator brings the panel into the desired angular position. At this position, the laser diode emits laser light towards the sample object, and the detector detects the intensity of the light reflected by the sample object towards the reflector and the detector. Thus, the reflectivity of the sample object with respect to the angle of incidence of the laser light or the main beam of light, typically pulsed or continuous light, can be determined.

For example, the actuator is a stepper motor. The stepper motor may be disposed directly at the rotational axis of the panel and may be directly coupled to the panel. Alternatively, the stepper motor may be coupled to the panel through a gear.

In one embodiment, the actuator is configured such that each time it receives a rotation command, it rotates the panel in a given direction by increments of a predetermined angular value.

The panel may rotate in a clockwise direction or a counterclockwise direction. For example, the panel may be rotated 1 (counterclockwise) or-1 (clockwise) each time the panel receives a rotation command. Other angular increments of angular value are also possible.

The panel may comprise fasteners for holding the painted object in its desired position. The fastener may be a clamp holding the painted object. The painted object may be sheet metal coated with a specific coating. Thus, the reflectivity of the coating with respect to the angle of incidence can be determined.

Reflector 108 includes an opening 109 (also in the embodiments shown in fig. 3 and 5). The laser diode 102 is arranged on a first side of the opening (behind the reflector when viewed from the painting object) and the panel with the painting object is arranged on the opposite side of the reflector. The main beam 22 passes through the opening 109 and strikes the surface of the painted object and is then reflected back to the reflector. The opening 109 is small enough to pass the main beam. However, since the painted object scatters the primary beam, most of the light is reflected to the reflective surface 120 of the reflector and then beamed towards the detector 110.

In one embodiment, the control unit 114 is configured to control the electromagnetic wave source 102 to emit the laser beam 22 at a predetermined first intensity, to generate and send a command indicating that the panel 106 is rotated to a given position and/or direction relative to the main beam 22, and to determine a second intensity of the electromagnetic wave 24 detected by the detector. The control unit is further configured to determine the reflectivity of the painted object for a plurality of angular positions of the panel (angle of incidence of the main beam onto the panel or the painted object) by determining for each angular position a contribution of the second intensity proportional to the first intensity.

In one embodiment, the control unit is configured to determine the reflectivity of the painted object at an angular position of the panel between +90 ° and-90 °, wherein the 0 ° position corresponds to a position in which the electromagnetic waves strike the panel perpendicularly and parallel to the panel normal.

In one embodiment, the system further comprises a painted object, wherein the painted object is positioned on the surface of the panel such that the electromagnetic waves impinge on and are reflected by the painted object.

In one embodiment, the painted surface of the painted object is coated with at least one of a solid color, an effect color, and a flop, wherein the painted object is arranged such that the electromagnetic waves emitted by the electromagnetic wave source impinge on the painted surface.

Fig. 9 shows another embodiment of the system 100. This embodiment includes a laser diode 102, a lens 104, a detector 110, and a panel with a painted object 112. These elements are functionally identical to the elements having the same reference numerals in the other embodiments described herein. However, instead of the parabolic reflectors as shown in fig. 3, 5 and 8, a beam splitter 130 is used in fig. 9. The main beam 22 is partly directed towards the painting object 112 by the beam splitter 130. Another portion of the main beam is directed to the bottom of fig. 9. The painted object 112 reflects the primary beam 22 back to the beam splitter. A portion of the reflected beam is directed by beam splitter 130 to a detector.

In this embodiment, the reflector is a beam splitter 130, and the beam splitter is disposed between the electromagnetic wave source 102 and the panel.

In one embodiment, the beam splitter 130 is tilted with respect to the incident direction of the electromagnetic waves 22 such that the electromagnetic waves reflected by the painted object towards the beam splitter are at least partially redirected towards the detector.

Fig. 10 shows the effect of the flakes on the reflection geometry of the painted object. Each measurement geometry (bi-directional measurement geometry, with light sources and detectors placed at different positions or orientations when viewed from the painted object, as shown in fig. 3, 5, 8 and 9, or retro-reflective measurement geometry, with light sources and reflector/detector devices placed in the same orientation when viewed from the painted object, see fig. 11) samples a subset of effect pigment flakes oriented as a geometrically shaped specular reflector for the effect paint surface. The left figure shows a bidirectional measurement geometry and the right figure shows a retro-reflective geometry. The angle between the sample normal and the surface normal of the subset of lamellae is called the lamella angle (7.33 ° in this example). Each retroreflective geometry has one or more equivalent bidirectional geometries.

Lidar measures retroreflected light produced by a variety of mechanisms including fresnel interface reflection, diffuse scattering of pigment particles, specular reflection of effect flakes. Only a subset of flakes oriented to act as specular reflections for a particular measurement geometry contribute to the flake portion of the signal. The subset of angles of the signal sheet portion responsible for each retro-reflection geometry can be calculated using snell's law of refraction. If the reflection factor is measured using a two-way geometry instead of a retro-reflective geometry, the equivalent two-way geometry can also be similarly calculated using Snell's law.

Fig. 10 shows the incident light on the surface of the painted object. The lower hatched layer corresponds to the material of the painted object having a coating layer in which a plurality of flakes are arranged. When light enters the coating, light refraction occurs because the refractive indices of air and the coating are different.

Fig. 11 illustrates a system 100 that is similar in function to the systems illustrated in fig. 3, 5, 8, and 9. However, in fig. 11, the laser diode 102 and the detector 110 are arranged at different angles with respect to the painted object 112.

The sample normal 107 is arranged at a right angle 122 with respect to the surface of the painted object 112. The main beam 22 emitted by the laser diode 102 is at an angle of incidence 118 with respect to the surface of the painted object. The reflected beam 24 is reflected at a reflection angle 124 with respect to the surface of the painted object. Assuming the painted object is a flat element, the angle of incidence 118 and the angle of reflection 124 can be measured clockwise or counterclockwise. These angle values can be used as equivalent input values for the angle of incidence to indicate the relative angular position of the painted object 11 with respect to the main beam 22.

The control unit 114, the detector 110, and the laser diode 102 function similarly to other embodiments described herein.

In some embodiments, the system 100 for measuring the reflectance of a painted object 112 includes: a panel 106 configured to hold a painted object 112; an electromagnetic wave source 102 configured to emit electromagnetic waves 22 such that the electromagnetic waves strike the panel 106 at a predetermined angle of incidence 118 relative to the panel; a detector 110 configured to detect an intensity of the electromagnetic wave 24 reflected by the painted object 112 at a predetermined reflection angle 124 with respect to the surface of the panel; and a control unit 114. The control unit is communicatively connected to the electromagnetic wave source 102 and the detector 110. The control unit 114 is configured to determine the intensity of the electromagnetic wave 22 emitted towards the panel, receive the intensity of the electromagnetic wave 24 detected by the detector, and determine the reflectivity of the painting object from the intensity of the electromagnetic wave emitted towards the panel and the intensity of the electromagnetic wave detected by the detector.

In some embodiments, the electromagnetic wave source 102 is a laser configured to emit electromagnetic waves in a range between 10 μm to 250 nm. For example, the electromagnetic wave is a laser radar signal.

In some embodiments, the electromagnetic wave source is a light emitting diode or an incandescent light source.

In some embodiments, the angle of incidence is between 0 degrees and 180 degrees and the angle of reflection is between 0 ° and 180 °.

FIG. 12 shows an example equivalent geometry measuring a range of sheet angles as both a bi-directional geometry and a retro-reflective geometry. Geometries A, B and C are both bidirectional geometries on the left and corresponding retroreflective geometries on the right. Geometry a starts with a lamella angle of 7.33 °. The bi-directional illumination angle (incident angle of the primary beam 22) is 45 deg. and the bi-directional detection angle is-20 deg., with an equivalent retro-reflective geometry having a primary beam incident angle of 11.22 deg.. Geometry B has a flake angle of 13.81 deg., and the incident angle of the main beam is the same as geometry a. The bidirectional detection angle is 0 °. The equivalent retro-reflective geometry has a chief beam incident angle of 21.35. In geometry C, the angle of incidence of the main beam is also 45 ° and the flake angle is 31.90 °. The two-way detection angle is 55 ° and the equivalent retro-reflective geometry has a main beam incident angle of 54.02 °.

Fig. 13 shows an example of interface reflection. Since the diffuse reflection part of the lidar signal is caused by lambertian scattering, measurements can be made with any geometry. Fresnel interfacial reflection occurs when light is incident from a material with refractive index n1 to another material with refractive index n2 according to the following equation:

in these equations, Rs and Rp represent the interfacial reflections of s-and p-polarized light.

Fig. 14 and 15 show fresnel interface reflection as a function of incident angle. The measurements with the bi-directional geometry can be corrected for differences in fresnel interface reflection losses to correctly reflect the performance of the retro-reflective lidar system.

Fig. 16 schematically shows the steps of a method 200 for measuring the reflectivity of a painted object. The method comprises the following steps: in a first step 210, electromagnetic waves are emitted by an electromagnetic wave source towards the painting object; in a subsequent step 220, the painted object is rotated by the movable panel to adjust the angle of incidence of the electromagnetic waves onto the painted object; in a subsequent step 230, the intensity of the electromagnetic waves reflected by the painted object is determined by a detector; in a subsequent step 240, the angle of incidence of the electromagnetic wave is determined by the control unit; in a subsequent step 250, receiving, by the control unit, the intensity of the electromagnetic wave from the detector; in a subsequent step 260, the reflectivity of the painted object is determined by the control unit from the intensity of the electromagnetic wave determined by the detector within a predetermined range of incidence angle values.

Note that the method specifically corresponds to the functions described above with reference to the system. Therefore, what is described above and below with reference to the system applies in a similar manner to the method.

In one embodiment, the method further comprises the steps of: the panel is rotated about the rotation axis to change the angle of incidence. This step is performed by commanding the actuator to rotate the panel.

Although vehicles and vehicle coatings are specifically described in some examples, the present disclosure may also be used with other coated articles that are subject to distance calculations using a lidar system.

While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment, it being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope as set forth in the appended claims and their legal equivalents.