DE102004014041B4 - Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement - Google Patents

Air and ground vehicle obstruction detection system has multiple channel range measurement system in rotating head with colour and contrast measurement Download PDF

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Publication number
DE102004014041B4
DE102004014041B4 DE102004014041A DE102004014041A DE102004014041B4 DE 102004014041 B4 DE102004014041 B4 DE 102004014041B4 DE 102004014041 A DE102004014041 A DE 102004014041A DE 102004014041 A DE102004014041 A DE 102004014041A DE 102004014041 B4 DE102004014041 B4 DE 102004014041B4
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sensor
sensor according
rotating
distance measuring
sensor head
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DE102004014041A1 (en
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Martin Spies
Johann Spies
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Hesai Photonics Technology Co Ltd
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Individual
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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
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • 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
    • 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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters

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  • 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)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

An air and ground vehicle obstruction detection (113, 114) system has a multiple channel range measurement system in a cylindrical lens (103, 107) rotating (118-120) head that also provides broad band colour and contrast measurement with processing (117) within the rotating head.

Description

Zur Hinderniserkennung für Boden- und Luftfahrzeuge sind folgende Sensoren bekannt:
Radarsensoren mit Einzel- oder umlaufender Antenne.For obstacle detection for ground and aircraft the following sensors are known:
Radar sensors with single or revolving antenna.

Optische Sensoren nach dem Laufzeitverfahren mit Spiegelabtastung z. B.

  • – DE 197 57 849 A1
  • – DE 101 14 362 C2
  • – DE 101 11 826 A1
  • – DE 195 07 957 C1
  • – DE 196 05 218 C1
  • – DE 38 25 081 A1
Optical sensors according to the transit time method with mirror scanning z. B.
  • - DE 197 57 849 A1
  • - DE 101 14 362 C2
  • - DE 101 11 826 A1
  • - DE 195 07 957 C1
  • - DE 196 05 218 C1
  • - DE 38 25 081 A1

In der DE 197 57 849 A1 ist eine Anordnung beschrieben, bei der ein rotierender Teil Lasersender und einen Laserempfänger in koaxialer Anordnung enthält. Ein Sensor nach dieser Beschreibung ist im Regen oder Dunst nicht einsetzbar, da Rückstreuungen aus dem Nahbereich die Signale verfälschen. Die DE 38 25 081 A1 beschreibt einen Scanner mittels einer zur Vibration gebrachten Glasfaser.In the DE 197 57 849 A1 an arrangement is described in which a rotating part laser transmitter and a laser receiver includes in a coaxial arrangement. A sensor according to this description is not applicable in the rain or haze, since backscattering from the near range distort the signals. The DE 38 25 081 A1 describes a scanner by means of a vibrated fiberglass.

Überdies gibt es Sensoren die auf Transponderbasis arbeiten.moreover There are sensors that work on a transponder basis.

Alle diese Sensoren haben den Nachteil, dass sie kleine Hindernisse wie Drähte oder Segelflugzeuge mit sehr kleiner Frontfläche nicht erkennen.All These sensors have the disadvantage of being small obstacles like wires or gliders with very small front surface do not recognize.

Aufgabe der ErfindungObject of the invention

Aufgabe der Erfindung ist es, einen Sensor zu erstellen, der kleine Hindernisse über eine Entfernungsmessung nach z. B. dem Pulslaufzeitverfahren elektromagnetischer Strahlung erkennt und zuordnet, darüber hinaus eine hohe Winkelauflösung in allen Abtastbereichen, z. B. 30°–60° in der Elevation und 360° im Azimut, aufweist und eine hohe Energiedichte am Ort des Hindernisses erzeugt und zugleich mit wenig Volumen und Gewicht darstellbar ist. Diese Aufgabe wird mit einem Sensor gemäß Anspruch 1 oder Anspruch 2 gelöst.task The invention is to create a sensor that has small obstacles over one Distance measurement after z. B. the pulse transit time electromagnetic Radiation detects and assigns, in addition, a high angular resolution in all scanning areas, z. B. 30 ° -60 ° in the elevation and 360 ° in the Azimuth, has and high energy density at the location of the obstacle generated and at the same time with little volume and weight can be displayed. This object is achieved with a sensor according to claim 1 or claim 2 solved.

Die Erfindung wird anhand der 1 bis 6 beschrieben.The invention is based on the 1 to 6 described.

Entsprechend 1 besteht der Sensor aus einem Sensorkopf 1a der um seine Achse 1b rotiert. Im Sensorkopf befindet sich z. B. eine Laserzeile mit mehreren Einzellasern 101 zur Erzeugung von Lichtimpulsen die von der Treiberelektronik 102 angesteuert wird. Die Laserzeile wird über die Optik 103 auf die Umgebung abgebildet. Die von Hindernissen rückgestreute Energie wird über die Optik 107 empfangen und auf die Empfängerzeile 104 z. B. bestehend aus einer Reihe von Fotodioden abgebildet. Die weitere Signalkonditionierung erfolgt in der Elektronik 105. Durch einen Strahlteiler 106 der für die Wellenlänge des Lasers 101 durchlässig ist und zugleich als Filter für den Empfänger 104 dient, wird derjenige Wellenlängenbereich des Lichtes, der nicht der Laserwellenlänge zugeordnet ist, auf den Bild- oder Zeilensensor 108 geleitet und über die Elektronik 109 ausgewertet. Zur gesamten Signalauswertung und Spannungsversorgung für alle Komponenten im Sensorkopf 1a dienen die Elektronikplatinen 112a und 112b.Corresponding 1 the sensor consists of a sensor head 1a the one around his axis 1b rotates. In the sensor head is z. B. a laser line with several individual lasers 101 to generate light pulses from the driver electronics 102 is controlled. The laser line is about the optics 103 imaged on the environment. The energy backscattered by obstacles is transmitted through the optics 107 received and to the recipient line 104 z. B. consisting of a series of photodiodes imaged. The further signal conditioning takes place in the electronics 105 , Through a beam splitter 106 for the wavelength of the laser 101 is permeable and at the same time as a filter for the recipient 104 is used, that wavelength range of the light, which is not associated with the laser wavelength, on the image or line sensor 108 headed and about the electronics 109 evaluated. For the entire signal evaluation and power supply for all components in the sensor head 1a serve the electronic boards 112a and 112b ,

Die Entfernungsmessung zum Hindernis hin erfolgt durch die Bestimmung der Laufzeit z. B. nach einem der durch die Schriften

  • – DE 197 17 399 C2
  • – DE 101 62 668 B4
  • – DE 41 27 168 A
bekannten und beschriebenen Verfahren.The distance measurement towards the obstacle takes place by determining the transit time z. B. after one of the writings
  • - DE 197 17 399 C2
  • - DE 101 62 668 B4
  • - DE 41 27 168 A
known and described methods.

Die Versorgung des rotierenden Teiles erfolgt mit aus der DE 101 14 362 C2 bekannten Energieübertragung durch induktive Koppelung. Die Datenübertragung in und aus dem Sensorkopf 1a erfolgt über die optischen Sende- und Empfangsgruppen 113 und 114. Der Antrieb erfolgt z. B. über den Zahnkranz 118 und dem Motor 120 über sein Ritzel 119. Der Motor gibt z. B. durch Schrittsteuerung direkt die Winkelinkremente vor und diese sind damit durch die Motorsteuerung bestimmt und bekannt. Die Signalverarbeitung, Steuerung des Motors, Stromversorgung und Schnittstelle zum Fahrzeug oder Fluggerät erfolgt in der Elektronik 117. Gegen Umwelteinflüsse ist das System mit dem transparenten Gehäuse 121 geschützt. Die übrigen Komponenten sind durch das Gehäuse 122 geschützt. Das System wird am Gerät mit dem Flansch 123 befestigt. Die Linsensysteme 107 und 103 sind in einem gesonderten Rahmen 110 und 111 befestigt und können mit diesem über einen Hubmotor 124 in axiale Richtung verschoben werden. Damit können mehrere Winkelbereiche abgescannt werden oder der Elevationswinkel kann statisch oder dynamisch dem geplanten Flug- oder Fahrmanöver angepasst werden.The supply of the rotating part takes place with the DE 101 14 362 C2 known energy transfer by inductive coupling. The data transmission in and out of the sensor head 1a takes place via the optical transmission and reception groups 113 and 114 , The drive is z. B. over the sprocket 118 and the engine 120 over his pinion 119 , The engine is z. B. by stepping directly before the angle increments and these are thus determined and known by the engine control. The signal processing, control of the engine, power supply and interface to the vehicle or aircraft takes place in the electronics 117 , Against environmental influences is the system with the transparent housing 121 protected. The remaining components are through the housing 122 protected. The system is connected to the device with the flange 123 attached. The lens systems 107 and 103 are in a separate frame 110 and 111 attached and can with this over a lifting engine 124 be moved in the axial direction. Thus, several angular ranges can be scanned or the elevation angle can be adjusted statically or dynamically to the planned flight or driving maneuver.

Die Abtastung der Umgebung erfolgt gemäß 2. Im Sensorsystem 121 sind drei Abtastsysteme gemäß 1 untergebracht, die den Azimut jeweils z. B. um 120° versetzt abtasten, so dass mit einem Umlauf nacheinander die Bereiche 205, 206 und 207 abgetastet werden. Jeder Bereich wird über die Einzellaser 202, die in der Laserzeile 201 zusammengefasst ist beleuchtet. Die Zuordnung der Information zu den einzelnen Winkelbereichen erfolgt durch sequentielles Ansteuern der einzelnen Laserdioden oder zumindest durch sequentielles Ansteuern einzelner Laserdiodengruppen. Die drei aufgezeichneten um 120° verdrehten Abtastbereiche 205, 206 und 207 sowie 208, 209 und 210 können parallel abgetastet werden. Nach einem Umlauf wird der Hubmotor 124 gemäß 1 betätigt und die Linsengruppen verschoben, so dass dann die Elevationsbereiche 208, 209 und 210 abgetastet werden. Dies ist nur als Beispiel dargestellt. Es können durch den Hubmotor 124 mehrere Positionen angefahren werden.The scanning of the environment is done according to 2 , In the sensor system 121 are three sampling systems according to 1 accommodated, the azimuth z. B. offset by 120 ° scan, so that with one revolution in succession, the areas 205 . 206 and 207 be scanned. Each area is about the single laser 202 that in the laser line 201 summarized is illuminated. The assignment of the Infor tion to the individual angular ranges is effected by sequential driving of the individual laser diodes or at least by sequential activation of individual laser diode groups. The three recorded scan areas rotated by 120 ° 205 . 206 and 207 such as 208 . 209 and 210 can be sampled in parallel. After one revolution, the lifting motor 124 according to 1 pressed and moved the lens groups, so that then the elevation areas 208 . 209 and 210 be scanned. This is just an example. It can by the lift motor 124 several positions are approached.

Der jeweilige Elevationsbereich 205 bis 210 ist Sendeseitig z. B. entsprechend 201 in 16 Sendestrahlbereiche 202, erzeugt durch die einzelnen Laserdioden, aufgeteilt. Die Empfangsbereiche 203 enthalten Empfangsflächen 204 in denen die Sendestrahlbereiche 202 etwas kleiner abgebildet werden. Damit werden Justagetoleranzen und Laufzeitunterschiede während der Abtastung und Drehbewegung ausgeglichen. Die einzelnen Entfernungsbereiche 202 werden während des Umlaufs sequentiell oder teilweise parallel dargestellt.The respective elevation area 205 to 210 is transmitting side z. B. accordingly 201 in 16 transmission beam ranges 202 , generated by the individual laser diodes, split. The reception areas 203 contain reception areas 204 in which the transmission beam areas 202 be shown a little smaller. This compensates adjustment tolerances and differences in transit time during the scanning and rotational movement. The individual distance ranges 202 are displayed sequentially or partially in parallel during the circulation.

Der passive Empfangsteil 108/109 besteht z. B. aus einem CMOS-Sensor mit einer hohen Zahl an Bildpunkten für den sichtbaren Bereich des Lichtes. Dieser ist entweder analog dem Empfänger 104 als Zeile 204 mit 10 bis 3000 Bildpunkten ausgebildet oder als Fläche 211 mit 100 bis 10 Millionen Bildpunkten der in der Lage so justiert ist, dass die Senderabbildungen 202 etwa in der Mitte angeordnet sind. Anstatt des sichtbaren Bereiches des Lichtes kann auch der Infrarotbereich z. B. 8–12 μm benutzt werden um die Wärmestrahlung der Hindernisse auszuwerten.The passive receiver 108 / 109 exists z. B. from a CMOS sensor with a high number of pixels for the visible range of light. This is either analogous to the receiver 104 as a line 204 formed with 10 to 3000 pixels or as area 211 with 100 to 10 million pixels that is able to be adjusted so that the transmitter pictures 202 are arranged approximately in the middle. Instead of the visible region of the light and the infrared range z. B. 8-12 microns are used to evaluate the heat radiation of the obstacles.

Um das Gesamtsystem möglichst klein und leicht zu gestalten sind die drei Abtastsysteme entsprechend 3 ineinandergeschachtelt. Die Sendeeinheit besteht damit aus den Optiken 103a, 103b und 103c die jeweils um 120° verdreht sind und jeweils die Lasergruppen 101a/102a, 101b/102b und 101c/102c auf die Umgebung abbilden. Analog dazu ist die Abbildung der Umgebung auf die Empfänger entsprechend 4 gestaltet. Hier bilden die Optiken 107a, 107b und 107c die Umgebung und die von den Laser beleuchteten Bereichen jeweils auf die Empfangsgruppen 104a/105a, 104b/105b, und 104c/105c ab. Die Strahlengänge sind gemäß 4 ineinandergeschachtelt. Um gerade die für die Laufzeitmessung nötige schnelle Signalverarbeitung nicht durch Übertragungswege zu beeinträchtigen, wird die gesamte Entfernungsauswertung im rotierenden Sensorkopf vorgenommen.To make the overall system as small and light as possible, the three scanning systems are appropriate 3 interleaved. The transmitting unit thus consists of the optics 103a . 103b and 103c each rotated by 120 ° and each of the laser groups 101 / 102 . 101b / 102b and 101c / 102c depict on the environment. Similarly, mapping the environment to the recipients is appropriate 4 designed. Here are the optics 107a . 107b and 107c the environment and the areas illuminated by the laser each on the receiving groups 104a / 105a . 104b / 105b , and 104c / 105c from. The beam paths are according to 4 interleaved. In order not to impair the fast signal processing necessary for the transit time measurement by transmission paths, the entire distance evaluation is carried out in the rotating sensor head.

Das Blockschaltbild des erfindungsgemäßen Systems ist in 5 dargestellt. Im rotierenden Teil 501 befinden sich neben den in der 1 bis 4 beschriebenen Komponenten die Videoaufbereitung 502, die das Timing in Abhängigkeit von der Laserabtastung steuert und aus den Schwarz-Weiß- bzw. Farbkontrasten relevante Objektumrisse oder Lichtquellen der Objekte auswertet. Ebenso ist die Signalakquisition und Signalaufbereitung für die Abstandsmessung und das Pre-Tracking, das bereits die Signale sortiert und den Winkelbereichen zuordnet und den Vergleich mit dem Videosignal durchführt im rotierenden Teil 501 enthalten. Außerdem befindet sich im rotierenden Teil 501 auch die Hubmotorsteuerung. Im stehenden Teil 510 befinden sich neben der in 1 beschriebenen Komponenten die Gesamtsteuerung mit dem Gesamt-Tracking und der Datenaufbereitung 511 sowie die Stromversorgung und die Schnittstelle zum Gesamtsystem 512.The block diagram of the system according to the invention is shown in FIG 5 shown. In the rotating part 501 are located next to the one in the 1 to 4 components described the video editing 502 , which controls the timing as a function of the laser scanning and evaluates from the black-and-white or color contrasts relevant object outlines or light sources of the objects. Likewise, the signal acquisition and signal conditioning for the distance measurement and the pre-tracking, which already sorts the signals and assigns the angular ranges and performs the comparison with the video signal in the rotating part 501 contain. It is also located in the rotating part 501 also the Hubmotorsteuerung. In the standing part 510 are located next to the in 1 components described the overall control with the total tracking and data preparation 511 as well as the power supply and the interface to the overall system 512 ,

Im einfachsten Fall erfolgt die Auswertung der Lage von Hindernissen durch die Auswertung der gewonnenen Entfernungsinformationen, die durch die Lage der Abtastflächen, die Zuordnung zum jeweiligen System und durch den Drehwinkel sowie den Elevationswinkel des Hubmotors definiert sind. Durch die mehrfache Abtastung von Hindernissen mit, durch die Erfindung ermöglichten, kleinen Flächen ist die Detektionswahrscheinlichkeit von Hindernissen wie Drähten und Hindernissen sehr hoch. Mit Hilfe des jeweiligen Kamerasystems, das zugleich die Umgebung abtastet, können sowohl Schwarz-Weiß als auch Farbkontraste der Hindernisse ermittelt und ausgewertet werden. Auch aktive Lichtquellen wie Positionsleuchten von Luftfahrzeugen und deren Blitzlichter, sowie Warnleuchten z. B. von Antennen können ausgewertet werden. Durch die Korrelation dieser Daten mit der Entfernungsmessung ergibt sich eine sehr sichere Erkennung von Hindernissen.in the the simplest case is the evaluation of the location of obstacles through the evaluation of the obtained distance information, the due to the position of the scanning surfaces, the assignment to the respective system and by the rotation angle and the Elevation angle of the lifting motor are defined. By the multiple Scanning of obstacles with, enabled by the invention, small areas is the probability of detection of obstacles such as wires and obstacles very high. With the help of the respective camera system, at the same time the environment scans, can both black and white as also color contrasts of the obstacles can be determined and evaluated. Also active light sources such as position lights of aircraft and their flashlights, as well as warning lights z. B. antennas can be evaluated become. By correlating this data with the distance measurement results in a very safe detection of obstacles.

Eine Weiterbildung des Sensorsystems ist in 6 dargestellt.A development of the sensor system is in 6 shown.

Da unterschiedliche Hindernisse eine gute Rückstreuung bei unterschiedlichen Wellenlängen aufweisen und die Umgebung für unterschiedliche Wellenlängen unterschiedliche Dämpfungswerte aufweist, werden in der Weiterbildung der Erfindung zwei Sender 602 und 604 mit ihren Optiken 601 und 603 auf die Umgebung entsprechend 2 abgebildet. Die Sender haben z. B. 905 nm Wellenlänge für den Sender 602 und z. B. 10 μm für den Sender 604. Die Empfangseinheit verwendet die Optik 107, die für beide Wellenlängen geeignet ist. Der Strahlteiler 605 ist z. B. für 905 nm Wellenlänge durchlässig und auch für diese Wellenlänge ein selektiver Filter. Damit wird die rückgestreute Energie aus dem Sender mit 905 nm Wellenlänge auf den Detektor 606 geleitet. Der Strahlteiler kann dabei so ausgeführt werden, dass nur Energie mit z. B. 10 μm Wellenlänge auf den Detektor 607 gelangt.Since different obstacles have good backscatter at different wavelengths and the environment has different attenuation values for different wavelengths, in the development of the invention two transmitters are used 602 and 604 with their optics 601 and 603 according to the environment 2 displayed. The stations have z. B. 905 nm wavelength for the transmitter 602 and Z. B. 10 microns for the transmitter 604 , The receiving unit uses the optics 107 which is suitable for both wavelengths. The beam splitter 605 is z. B. for 905 nm wavelength permeable and also for this wavelength a selective filter. Thus, the backscattered energy from the transmitter with 905 nm wavelength on the detector 606 directed. The beam splitter can be designed so that only energy with z. B. 10 micron wavelength on the detector 607 arrives.

Die Sender 602 und 604 und die Empfänger 606 und 607 und die Strahlteiler 605 können natürlich auch auf andere elektromagnetische Wellenlängen ausgelegt werden.The transmitters 602 and 604 and the recipients 606 and 607 and the beam splitters 605 Of course, they can also be designed for other electromagnetic wavelengths.

Mit der Anordnung nach 6 ist es aber auch möglich die Dichte der Abtastpunkte in unterschiedlichen Wellenlängen anders zu gestalten, die in etwa sonst gleiche Eigenschaften aufweisen um damit die Erkennungswahrscheinlichkeit zu erhöhen oder im Bereich der längeren Wellenlängen die optische Auflösung oder die Kosten zu berücksichtigen.With the arrangement after 6 However, it is also possible to make the density of the sampling points in different wavelengths differently, which have approximately the same properties in order to increase the probability of recognition or to take into account the optical resolution or cost in the longer wavelengths.

Claims (9)

Sensor zur Hinderniserkennung für Boden und Luftfahrzeuge mit mindestens einer nach dem Laufzeitverfahren arbeitenden Mehrkanalentfernungsmesseinrichtung, die in einem rotierenden Sensorkopf (1a) untergebracht ist und mehrere Komponenten (101, 103, 104, 107) umfasst, wobei die Komponenten in axialer Richtung derart verschiebbar sind, dass unterschiedliche Elevationswinkelbereiche abgetastet werden.Ground and aircraft obstacle detection sensor comprising at least one multi-channel distance measuring device operating in a rotating sensor head (US Pat. 1a ) and several components ( 101 . 103 . 104 . 107 ), wherein the components are displaceable in the axial direction such that different elevation angle ranges are scanned. Sensor zur Hinderniserkennung für Boden und Luftfahrzeuge mit mindestens zwei nach dem Laufzeitverfahren arbeitenden Mehrkanalentfernungsmesseinrichtungen, die in einem rotierenden Sensorkopf (1a) untergebracht sind und den Azimut jeweils versetzt abtasten, derart dass mit einem Umlauf nacheinander unterschiedliche Elevationswinkelbereiche (205, 206, 207 bzw. 208, 209, 210) abgetastet werden.Ground and aircraft obstacle detection sensor comprising at least two multi-channel distance measuring devices operating in a rotating sensor head ( 1a ) are accommodated and scan the azimuth offset in each case, so that one revolution in succession different elevation angle ranges ( 205 . 206 . 207 respectively. 208 . 209 . 210 ) are scanned. Sensor nach einem der vorigen Ansprüche, bei dem die Strahlengänge der Mehrkanalentfernungsmesseinrichtungen zur Gewichts- und Platzersparnis ineinander verschachtelt ausgeführt sind.Sensor according to one of the preceding claims, in which the beam paths the multi-channel distance measuring devices into each other for weight and space savings nested are. Sensor nach einem der vorigen Ansprüche, bei dem alle Auswertungen, die eine schnelle Signalverarbeitung erfordern, im rotierenden Sensorkopf (1a) untergebracht sind und nur die vorverarbeitete Information vom rotierenden Sensorkopf (1a) zum stehenden Teil übertragen wird.Sensor according to one of the preceding claims, in which all evaluations which require a rapid signal processing, in the rotating sensor head ( 1a ) and only the preprocessed information from the rotating sensor head ( 1a ) is transferred to the stationary part. Sensor nach einem der vorigen Ansprüche, bei dem die Entfernungsmessung in mindestens zwei Wellenlängenbereichen parallel erfolgt.Sensor according to one of the preceding claims, in which the distance measurement in at least two wavelength ranges done in parallel. Sensor nach Anspruch 5, bei dem die abbildenden Optiken zugleich für die mindestens zwei Wellenlängenbereiche benutzt werden.A sensor according to claim 5, wherein the imaging optics at the same time for the at least two wavelength ranges to be used. Sensor nach einem der vorigen Ansprüche mit einem Bildsensor (108), der im rotierenden Sensorkopf (1a) angeordnet ist und zum Aufnehmen von passiven, flächenhaften Bildern dient, aus denen Farbkontraste und aktive Lichtquellen ermittelt und ausgewertet werden.Sensor according to one of the preceding claims with an image sensor ( 108 ) in the rotating sensor head ( 1a ) is arranged and used to record passive, areal images, from which color contrasts and active light sources are determined and evaluated. Sensor nach einem der vorigen Ansprüche mit einem transparenten Gehäuse (121), das als Zylinderlinse im Strahlengang der Einzeloptiken (103, 107) dient.Sensor according to one of the preceding claims with a transparent housing ( 121 ), as a cylindrical lens in the beam path of the individual optics ( 103 . 107 ) serves. Sensor nach einem der vorigen Ansprüche, bei dem die Sendestrahlbereiche (202) der Mehrkanalentfernungsmesseinrichtungen etwas kleiner abgebildet werden als deren Empfangsbereiche (203), so dass Laufzeitunterschiede und Justagetoleranzen ausgeglichen werden.Sensor according to one of the preceding claims, in which the transmission beam areas ( 202 ) of the multi-channel distance measuring devices are shown slightly smaller than their receiving areas ( 203 ), so that runtime differences and adjustment tolerances are compensated.
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