AU2018257486A1 - Sensor device for the three-dimensional detection of target objects - Google Patents

Sensor device for the three-dimensional detection of target objects Download PDF

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Publication number
AU2018257486A1
AU2018257486A1 AU2018257486A AU2018257486A AU2018257486A1 AU 2018257486 A1 AU2018257486 A1 AU 2018257486A1 AU 2018257486 A AU2018257486 A AU 2018257486A AU 2018257486 A AU2018257486 A AU 2018257486A AU 2018257486 A1 AU2018257486 A1 AU 2018257486A1
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Prior art keywords
sensor
laser
sensor device
mirror
rangefinder
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AU2018257486A
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AU2018257486B2 (en
Inventor
Christian Lehmann
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Rheinmetall Electronics GmbH
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Rheinmetall Electronics GmbH
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04—Display arrangements
    • G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • G01S7/20—Stereoscopic displays; Three-dimensional displays; Pseudo-three-dimensional displays
    • 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

Abstract

The invention relates to a sensor device (10) for the three-dimensional detection of target objects. The sensor device comprises a 360° sensor (20), a detection unit (30) and a laser range finder (40). The 360° sensor is designed to detect electromagnetic radiation in order to provide two-dimensional images of the surroundings of the 360° sensor. The detection unit is designed to detect specific target objects in the two-dimensional images provided by the 360° sensor. The laser range finder is designed to determine a distance to a target object. The laser range finder comprises a laser diode (41) for transmitting a laser beam, a mirror (42) for reflecting the laser beam transmitted onto a target object and a piezo-actuator (43), which is designed to align the mirror at least in elevation in such a manner that the laser beam reflected by the mirror illuminates the target object.

Description

SENSOR DEVICE FOR THREE-DIMENSIONAL DETECTION OF TARGET
OBJECTS
The present invention relates to a sensor device for three-dimensional detection of target objects, for example, of aircrafts.
The technical field of the present invention relates to the detection of target objects. Thereby, sensor devices for two-dimensional detection of target objects are known, for example, based on infrared. In this content, the applicant has developed an infrared monitoring system for the fully-operation with very short reaction times. This infrared monitoring system is known by the name FIRST (Fast InfraRed Search and Track). Substantial performance characteristics of FIRST are a high sensor sensitivity of the used line-sensor with a long reach resulting thereof. Due to a large elevation coverage of 18° and the very high resolution, FIRST is able to detect target objects, such as aircrafts, e.g. beam aircrafts, helicopters, cruise missiles as well as different ammunition types, vehicles and persons.
FIRST consists of a sensor head, a signal-processing unit with a powerful MultiMode-Tracker (MMT) and a user interface. The image data recorded by FIRST can be processed in real-time. Possible target objects are located, classified and assigned to their tracks based on their characteristic features. The target objects are provided with the appropriate symbols and are displayed with the determined data to the user or operator on a display device.
FIRST is suitable as an alarm system for the protection of military and civil objects against threat from the air or from the ground. However, FIRST is merely configured for two-dimensional detection of target objects.
Against this background, an object of the present invention is to improve the detection of target objects.
Accordingly, a sensor device for three-dimensional detection of target objects is proposed. The sensor device comprises a 360°-sensor, a detection unit and a laserrangefinder. The 360°-sensor is configured to detect electromagnetic radiation for providing two-dimensional images of an environment of the 360°-sensor. The detection unit is configured for detecting specific target objects in the twodimensional images provided by the 360°-sensor. The laser-rangefinder is configured for determining a respective range of the respective target object. The laserrangefinder comprises a laser diode for emitting a laser beam, a mirror for reflecting the emitted laser beam onto the respective target object, and a piezo actuator which is configured to align the mirror at least in elevation such that the laser beam reflected by the mirror illuminates the respective target object.
By using the combination of the 360°-sensor and the present laser-rangefinder, it is possible to create a three-dimensional representation, in particular a 3Dsituational image from the two-dimensional images provided by the 360°-sensor. Thus, the present sensor device is a 3D-sensor and allows a 3D-all-round view which can provide an accurate situational image of the environment in real-time.
Thereby, the sensor device is formed as a rotating 360°-sensor, wherein, for example, the 360°-sensor is formed as a sensor head onto which the laserrangefinder is mounted. In particular, the laser-rangefinder is aligned in azimuth with the 360°-sensor. Preferably, next to the laser diode of the laser-rangefinder, a photodiode or a photosensitive sensor is arranged in negative rotation direction. In particular, the detection unit for detecting specific target objects in the twodimensional images provided by the 360°-sensor comprises a tracking unit. The tracking unit can also be designated as tracker. If a target object is detected by the tracking unit, the elevation data and the azimuth data can be stored. At the next rotation of the sensor device, the laser beam can be emitted by the laserrangefinder towards the target object. For example, the laser beam can be formed of multiple laser pulses with randomly calculated intervals. Thereby, the laser pulses are emitted from the laser diode which emits onto the movable mirror. The mirror is moved by the piezo actuator such that the laser pulses hit the target object. By the configuration of the laser beam from laser pulses, it is advantageously possible that the necessary laser power is decreased. The term piezo actuator also refers to an arrangement with a plurality of piezo actuators.
Preferably, the angular velocity of the sensor device is compensated, and the elevation is compensated by the angular position in order to hit the target object by the laser beam. For example, at the housing of the laser-rangefinder, a photodiode is arranged laterally which can receive the backscattered laser pulses. For example, the photodiode is an avalanche-photodiode.
At further rotation of the sensor device, the photodiode receives the backscattered laser pulses. Thereby, by means of the duration of the laser pulses, the range to the target object is preferably determined.
In particular, the 360°-sensor is a radiation-sensitive detector, in particular a semiconductor-detector which comprises a one-dimensional array of photodetectors or other detector elements.
According to an embodiment, the sensor device comprises an output unit which is configured to output a three-dimensional image of the environment with the specific target objects and their respective ranges by means of the two-dimensional images provided by the 360°-sensor and by means of the ranges determined by the laser-rangefinder. The output unit can be part of a signal-processing unit or a calculating unit. The output unit generates the three-dimensional image from the two-dimensional images, the specific target objects and their respective specific ranges.
According to a further embodiment, the laser-rangefinder comprises a photodiode for receiving at least a part of a laser beam backscattered from the target object. In particular, the photodiode is an avalanche-photodiode.
According to a further embodiment, the laser-rangefinder comprises a determination unit which is configured to determine the range of the respective target object in dependence on the part scattered back from the target object and received by the photodiode of the laser beam. For the determination or the calculation of the range, the determination unit uses the specific duration of the laser beam from the laser-rangefinder to the target object and back.
According to a further embodiment, the photodiode is outwardly arranged on a housing of the laser-rangefinder. At the arrangement of the photodiode outward on the housing of the laser-rangefinder, the photodiode is particularly arranged in negative rotation direction next to the laser diode.
According to a further embodiment, the photodiode and the mirror are arranged relative to each other in such a way that the at least part of the laser beam backscattered by the target object is deflected by the mirror onto the photodiode. Due to the relative arrangement of the photodiode and the mirror, it is ensured that at least parts of the backscattered laser beam can be received by the photodiode.
According to a further embodiment, the photodiode is arranged on the mirror. Advantageously, this embodiment is very space-saving.
According to a further embodiment, the piezo actuator is configured to align the mirror in elevation and in azimuth such that the laser beam reflected by the mirror illuminates the respective target object. At this embodiment, the piezo actuator can align the mirror both in elevation and in azimuth to the target object. This embodiment is advantageous because it is very precise at the alignment of the laser emission and thus leads to an improved signal-to-noise ratio. This leads in turn to an improvement in the determination of the range of the target object to the laser-rangefinder.
According to a further embodiment, the laser-rangefinder is configured to radiate the laser beam with a plurality N of coded signatures for differentiating a plurality N of target objects. By using the coded signatures in the laser beam, it is possible to differentiate a plurality of target objects and therefore to determine ranges of the plurality of target objects.
According to a further embodiment, the 360°-sensor and the laser-rangefinder are centrically arranged relative to one another.
According to a further embodiment, the 360°-sensor and the laser-rangefinder have a common axis of rotation. The centrical arrangement of the 360°-sensor and the laser-rangefinder and the common axis of rotation have the advantage that the three-dimensional all-round view can be provided especially precisely and easily.
According to a further embodiment, the 360°-sensor is formed as a 360°-linesensor or as a 360°-surface-sensor. In particular, the 360°-sensor is an infrared sensor.
According to a further embodiment, the 360°-sensor is configured to provide the two-dimensional image with a predetermined frequency between 0.1 Hz and 10
Hz, preferably at 5 Hz.
According to a further embodiment, the 360°-sensor is configured to provide, with the provided two-dimensional images, a continuous azimuth coverage.
According to a further embodiment, the 360°-sensor is configured to provide an adjustable elevation coverage in a region between -20° and 30°.
The respective unit, e.g. the detection unit or the determination unit, may be implemented in hardware and/or in software. If said unit is implemented in hardware, it may be embodied as a device or as a part of a device, e.g. as a computer or as a processor. If said unit is implemented in software it may be embodied as a computer program product, as a function, as a routine, as a part of a program code or as an executable object.
A computer program product, such as a computer program means, may be provided or delivered as a memory card, USB stick, CD-ROM, DVD or also as a file which may be downloaded from a server in a network. For example, in a wireless communication network, this can be done by transferring a corresponding file using the computer program product or the computer program means.
Further possible implementations of the present invention also comprise combinations — that are not explicitly mentioned herein — of features or embodiments described above or below with regard to the embodiments. Thereby, the skilled person may also add isolated aspects as improvements or additions to the respective basic form of the present invention.
Further advantageous embodiments and aspects of the present invention are subject-matter of the dependent claims as well as the below described embodiments of the present invention. Further, with reference to the attached drawings, the present invention is discussed in more detail on the basis of preferred embodiments.
Fig. 1 shows a schematic view of a first embodiment of a sensor device for three-dimensional detection of target objects!
Fig. 2 shows a schematic view of an embodiment of a laser-rangefinder of the sensor device according to Fig. 1!
Fig. 3 shows a schematic view of an emission and an adsorption by the laser-rangefinder according to Fig. 2!
Fig. 4 shows a schematic view of a second embodiment of a sensor device for three-dimensional detection of target objects! and
Fig. 5 shows a schematic embodiment of a mirror of a laser-rangefinder.
In the figures, the same or functionally identical elements have been given the same reference numerals, unless otherwise indicated.
In Fig. 1, a schematic view of a first embodiment of a sensor device 10 for threedimensional detection of target objects is shown.
The sensor device 10 of Fig. 1 comprises a 360°-sensor 20, a detection unit 30 as well as a laser-rangefinder 40.
The 360°-sensor 20 is configured to detect electromagnetic radiation for providing two-dimensional images of an environment of the 360°-sensor 20. Thereby, the 360°-sensor 20 rotates around an axis of rotation R and records, with a specific frequency, for example with 5 Hertz, the two-dimensional images of the environment. For example, the 360°-sensor 20 is a 360°-infrared-surface-sensor. The 360°-sensor 20 can also be a 360°-infrared-line-sensor.
In particular, the 360°-sensor 20 is configured to provide, with the provided twodimensional images, a continuous azimuth coverage. Furthermore, the 360°sensor 20 is preferably configured to provide an adjustable elevation coverage in a region between 10° and 20°.
In particular, the 360°-sensor 20 and the laser-rangefinder 40 have the axis of rotation R as a common axis of rotation and are thus preferably centrically arranged relative to one another.
The detection unit 30 is configured to detect specific target objects, for example aircrafts, drones or projectiles, in the two-dimensional images provided by the 360°-sensor 20. For example, the detection unit 30 is - as shown in Fig. 1 - integrated in the 360°-sensor 20. Also, the detection unit 30 can be externally arranged to the 360°-sensor 20 (not shown).
The detection unit 30 may comprise a tracking unit (not shown) which is configured to track one or more of the specific target objects, it means to trace these target objects.
The laser-rangefinder 40 is configured to determine a respective range of the respective specific target object.
For this purpose, Fig. 2 shows a schematic view of an embodiment of the laserrangefinder 40. The laser-rangefinder 40 comprises a laser diode 41, a mirror 42, a piezo actuator 43, a photodiode 44, a determination unit 45 and a housing 46.
The laser diode 41 is configured to emit a laser beam LI. The mirror 42 is arranged such that it reflects the laser beam LI emitted by the laser diode 41 onto the respective target object. The piezo actuator 43 is configured to align the mirror 42 at least in elevation and preferably additionally in azimuth such that the laser beam L2 reflected from the mirror 42 illuminates the respective target object.
The photodiode 44 is configured to receive at least a part of the laser beam L3 scattered back from the target object (for this purpose see Fig. 3).
The determination unit 45 is configured to determine or to calculate the range of the respective target object in dependence on the part scattered back from the target object and received by the photodiode 44 of the laser beam L3.
In the example of Fig. 2, the photodiode 44 is outwardly arranged on the housing 46 of the laser-rangefinder 40.
In particular, the photodiode 44 and the mirror 42 are arranged relative to each other in such a way that the at least part of the laser beam L3 backscattered by the target object is deflected by the mirror 42 onto the photodiode 44.
An example for an emission and an absorption by the laser-rangefinder 40 is shown in Fig. 3. Thereby, in the left part of Fig. 3, the emission of the laser diode 41 of the laser-rangefinder 40 at a time point tl is designated with E(tl), whereas the right part of Fig. 3 shows the absorption A(t2) at a later time point t2 of the backscattered laser beam L3.
The left part of Fig. 3 shows that, at the emission E(tl), a laser beam LI is emitted from the laser diode 41, wherein the mirror 42 reflects this emitted laser beam LI and thus provides a reflected laser beam L2 which illuminates the target object.
In contrast, the right part of Fig. 3 shows the absorption A(t2) at the time point t2 at which the laser beam L3 scattered back from the target objects is received by the photodiode 44. In Fig. 3, the arrow D shows the rotation direction of the laser-rangefinder 40.
As described above, the 360°-sensor 20 and the laser-rangefinder 40 are centrical· ly arranged relative to one another and have the axis R as a common axis of rotation. Therefore, also the laser-rangefinder 40 is, as the 360°-sensor 20, rotatable around 360° with a predetermined rotation velocity. Since it is possible that in the 360°-environment of the present sensor device 10 a plurality of target objects is located, the laser-rangefinder 40 is preferably configured to emit the laser beam LI, L2 with a plurality N of coded signatures for differentiating a plurality M of target objects. Thereby, a specific signature of the coded signatures is preferably unambitiously assigned to one of the plurality M of target objects.
Fig. 4 is a schematic view of a second embodiment of a sensor device 10 for threedimensional detection of target objects.
The second embodiment of Fig. 4 is based on the first embodiment of Fig. 1 and comprises all features of the sensor device 10 of Fig. 1. Moreover, the sensor device 10 of Fig. 4 comprises an output unit 50. The output unit 50 is configured to output a three-dimensional image of the environment with the specific target objects and the respective ranges by means of the two-dimensional images provided by the 360°-sensor 20 and by means of the ranges determined by the laser11 rangefinder 40. Preferably, the output unit 50 is connected with a representation device 60 via a data connection V, for example via WLAN, via LAN and/or via Internet. For example, the representation device 60 comprises a number of displays or monitors which are configured to output the three-dimensional image 5 provided by the output unit 50 to a user.
Fig. 5 shows a schematic embodiment of a mirror 42 of a laser-rangefinder 40. In the embodiment of Fig. 2, the photodiode 44 is arranged on the housing 46 of the laser-rangefinder 40. In contrast, in the embodiment of Fig. 5, the photodiode 44 10 is arranged on the mirror 42. Consequently, according to this embodiment of Fig.
5, the piezo actuator 43 can adjust the mirror 42 as well as the photodiode 44 in elevation and preferably additionally in azimuth.
Although the present invention has been described in accordance with preferred 15 embodiments, it is obvious for the skilled person that modifications are possible in all embodiments.
LIST OF REFERENCE NUMBERS sensor device
3600_sensor detection unit laser-rangefinder laser diode mirror piezo actuator photodiode determination unit housing output unit representation device
LI emitted laser beam
L2 reflected laser beam
L3 backscattered laser beam
R axis of rotation
D rotation direction
V data connection

Claims (15)

1. Sensor device (10) for three-dimensional detection of target objects, comprising:
a 360°-sensor (20) which is configured to detect electromagnetic radiation for providing two-dimensional images of an environment of the 360°sensor (20), a detection unit (30) for detecting specific target objects in the twodimensional images provided by the 360°-sensor (20), and a laser-rangefinder (40) for determining a respective range of the respective target object, wherein the laser-rangefinder (40) comprises:
a laser diode (41) for emitting a laser beam (Ll), a mirror (42) for reflecting the emitted laser beam (Ll) onto the respective target object, and a piezo actuator (43) which is configured to align the mirror (42) at least in elevation such that the laser beam (L2) reflected by the mirror (42) illuminates the respective target object, wherein the 360°-sensor (20) and the laser-rangefinder (40) have a common axis of rotation (R).
2. Sensor device according to claim 1, characterized by an output unit (50) which is configured to output a three-dimensional image of the environment with the specific target objects and their respective ranges by means of the two-dimensional images provided by the 360°-sensor (20) and by means of the ranges determined by the laser-rangefinder (40).
3. Sensor device according to claim 1 or 2, characterized in that the laser-rangefinder (40) comprises a photodiode (44) for receiving at least a part of a laser beam (L3) backscattered from the target object.
4. Sensor device according to claim 3, characterized in that the laser-rangefinder (40) comprises a determination unit (45) which is configured to determine the range of the respective target object in dependence on the part scattered back from the target object and received by the photodiode (44) of the laser beam (L3).
5. Sensor device according to claim 3 or 4, characterized in that the photodiode (44) is outwardly arranged on a housing (46) of the laserrangefinder (40).
6. Sensor device according to one of claims 3 to 5, characterized in that the photodiode (44) and the mirror (42) are arranged relative to each other in such a way that the at least part of the laser beam (L3) backscattered by the target object is deflected by the mirror (42) onto the photodiode (44).
7. Sensor device according to claim 3 or 4, characterized in that the photodiode (44) is arranged on the mirror (42).
8. Sensor device according to one of claims 1 to 7, characterized in that the piezo actuator (43) is configured to align the mirror (42) in the elevation and in azimuth such that the laser beam (L2) reflected by the mirror (42) illuminates the respective target object.
9. Sensor device according to one of claims 1 to 8, characterized in that the laser-rangefinder (40) is configured to radiate the laser beam (LI, L2) with a plurality N of coded signatures for differentiating a plurality N of target objects.
10. Sensor device according to one of claims 1 to 9, characterized in that the 360°-sensor (20) and the laser-rangefinder (40) are centrically arranged relative to one another.
11. Sensor device according to one of claims 1 to 10, characterized in that the laser diode (41) is configured to radiate and to receive the laser beam (Ll) with a wavelength of at least 700 nm, preferably of at least 850 nm, particularly preferably of at least 1100 nm.
12. Sensor device according to one of claims 1 to 11, characterized in that the 360°-sensor (20) is formed as a 360°-line-sensor or as a 360°-surfacesensor.
13. Sensor device according to one of claims 1 to 12, characterized in that the 360°-sensor (20) is configured to provide the two-dimensional image with a predetermined frequency between 0.1 Hz and 10 Hz, preferably at 5 Hz.
14. Sensor device according to one of claims 1 to 13, characterized in that the 360°-sensor (20) is configured to provide, with the provided twodimensional images, a continuous azimuth coverage.
15. Sensor device according to one of claims 1 to 14,
5 characterized in that the 360°-sensor (20) is configured to provide an adjustable elevation coverage in a region between -20° and 30° or between 10° and 20°.
AU2018257486A 2017-04-27 2018-04-18 Sensor device for the three-dimensional detection of target objects Ceased AU2018257486B2 (en)

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EP3596501B1 (en) 2020-12-02
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AU2018257486B2 (en) 2020-11-12
WO2018197310A1 (en) 2018-11-01

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