CN101932953B - 用于确定与物体的距离的方法和装置 - Google Patents

用于确定与物体的距离的方法和装置 Download PDF

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Publication number
CN101932953B
CN101932953B CN2009801038520A CN200980103852A CN101932953B CN 101932953 B CN101932953 B CN 101932953B CN 2009801038520 A CN2009801038520 A CN 2009801038520A CN 200980103852 A CN200980103852 A CN 200980103852A CN 101932953 B CN101932953 B CN 101932953B
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CN
China
Prior art keywords
modulation signal
signal
rectangular
modulation
light beam
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Expired - Fee Related
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CN2009801038520A
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English (en)
Chinese (zh)
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CN101932953A (zh
Inventor
马丁·奥西格
菲利普·舒曼
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Faro Technologies Inc
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Faro Technologies Inc
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Publication of CN101932953A publication Critical patent/CN101932953A/zh
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    • 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
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • 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
    • G01S7/491—Details of non-pulse 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
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • 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

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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)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN2009801038520A 2008-02-01 2009-01-27 用于确定与物体的距离的方法和装置 Expired - Fee Related CN101932953B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102008008064 2008-02-01
DE102008008064.0 2008-02-01
DE102008014274.3 2008-03-03
DE102008014274.3A DE102008014274B4 (de) 2008-02-01 2008-03-03 Verfahren und Vorrichtung zum Bestimmen einer Entfernung zu einem Objekt
PCT/EP2009/050887 WO2009095383A1 (de) 2008-02-01 2009-01-27 Verfahren und vorrichtung zum bestimmen einer entfernung zu einem objekt

Publications (2)

Publication Number Publication Date
CN101932953A CN101932953A (zh) 2010-12-29
CN101932953B true CN101932953B (zh) 2013-05-22

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CN2009801038520A Expired - Fee Related CN101932953B (zh) 2008-02-01 2009-01-27 用于确定与物体的距离的方法和装置

Country Status (6)

Country Link
US (1) US8064046B2 (enExample)
EP (1) EP2238470A1 (enExample)
JP (1) JP5306376B2 (enExample)
CN (1) CN101932953B (enExample)
DE (1) DE102008014274B4 (enExample)
WO (1) WO2009095383A1 (enExample)

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DE102006031580A1 (de) 2006-07-03 2008-01-17 Faro Technologies, Inc., Lake Mary Verfahren und Vorrichtung zum dreidimensionalen Erfassen eines Raumbereichs
DE102009010465B3 (de) 2009-02-13 2010-05-27 Faro Technologies, Inc., Lake Mary Laserscanner
US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
DE102009015920B4 (de) 2009-03-25 2014-11-20 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102009035336B3 (de) 2009-07-22 2010-11-18 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102009035337A1 (de) 2009-07-22 2011-01-27 Faro Technologies, Inc., Lake Mary Verfahren zum optischen Abtasten und Vermessen eines Objekts
DE102009038964A1 (de) * 2009-08-20 2011-02-24 Faro Technologies, Inc., Lake Mary Verfahren zum optischen Abtasten und Vermessen einer Umgebung
DE102009029668A1 (de) * 2009-09-22 2011-03-24 Balluff Gmbh Optische Sensorvorrichtung und Verfahren zum Betreiben einer optischen Sensorvorrichtung
US9113023B2 (en) 2009-11-20 2015-08-18 Faro Technologies, Inc. Three-dimensional scanner with spectroscopic energy detector
DE102009055989B4 (de) 2009-11-20 2017-02-16 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9529083B2 (en) 2009-11-20 2016-12-27 Faro Technologies, Inc. Three-dimensional scanner with enhanced spectroscopic energy detector
DE102009055988B3 (de) 2009-11-20 2011-03-17 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9210288B2 (en) 2009-11-20 2015-12-08 Faro Technologies, Inc. Three-dimensional scanner with dichroic beam splitters to capture a variety of signals
DE102009057101A1 (de) 2009-11-20 2011-05-26 Faro Technologies, Inc., Lake Mary Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9163922B2 (en) 2010-01-20 2015-10-20 Faro Technologies, Inc. Coordinate measurement machine with distance meter and camera to determine dimensions within camera images
US9879976B2 (en) 2010-01-20 2018-01-30 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
DE112011100193B4 (de) 2010-01-20 2016-07-07 Faro Technologies, Inc. Montagevorrichtung für ein Koordinatenmessgerät
US9645240B1 (en) * 2010-05-10 2017-05-09 Faro Technologies, Inc. Method for optically scanning and measuring an environment
DE102010020925B4 (de) * 2010-05-10 2014-02-27 Faro Technologies, Inc. Verfahren zum optischen Abtasten und Vermessen einer Umgebung
DE102010032726B3 (de) 2010-07-26 2011-11-24 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010032723B3 (de) 2010-07-26 2011-11-24 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010032725B4 (de) 2010-07-26 2012-04-26 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
DE102010033561B3 (de) 2010-07-29 2011-12-15 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US9168654B2 (en) 2010-11-16 2015-10-27 Faro Technologies, Inc. Coordinate measuring machines with dual layer arm
WO2012155993A1 (en) 2011-05-18 2012-11-22 Lambda:4 Entwicklungen Gmbh Method, device and system for position determination
DE102012100609A1 (de) 2012-01-25 2013-07-25 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
US8997362B2 (en) 2012-07-17 2015-04-07 Faro Technologies, Inc. Portable articulated arm coordinate measuring machine with optical communications bus
DE102012107544B3 (de) 2012-08-17 2013-05-23 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
WO2014039623A1 (en) 2012-09-06 2014-03-13 Faro Technologies, Inc. Laser scanner with additional sensing device
WO2014043461A1 (en) 2012-09-14 2014-03-20 Faro Technologies, Inc. Laser scanner with dynamical adjustment of angular scan velocity
US9513107B2 (en) 2012-10-05 2016-12-06 Faro Technologies, Inc. Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner
US10067231B2 (en) 2012-10-05 2018-09-04 Faro Technologies, Inc. Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner
DE102012109481A1 (de) 2012-10-05 2014-04-10 Faro Technologies, Inc. Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung
EP2860492B1 (de) * 2013-10-09 2018-02-28 Hexagon Technology Center GmbH Vermessungsgerät zum optischen Abtasten einer Umgebung
US10024964B2 (en) * 2013-11-01 2018-07-17 Irobot Corporation Scanning range finder
CN105137447B (zh) * 2015-07-29 2017-11-14 兖州市顺通机械有限公司 一种应答式激光二维扫描定位系统及方法
DE102015122844A1 (de) 2015-12-27 2017-06-29 Faro Technologies, Inc. 3D-Messvorrichtung mit Batteriepack
US10546373B2 (en) 2016-08-03 2020-01-28 Sightline Innovation Inc. System and method for integrated laser scanning and signal processing
US10782118B2 (en) 2018-02-21 2020-09-22 Faro Technologies, Inc. Laser scanner with photogrammetry shadow filling
WO2019188302A1 (ja) * 2018-03-27 2019-10-03 パイオニア株式会社 測距装置
DE102018108141A1 (de) * 2018-04-06 2019-10-10 Navvis Gmbh Mobile Vorrichtung und Verfahren zum Erfassen eines Objektraums
JP7300915B2 (ja) * 2019-07-16 2023-06-30 株式会社トプコン 測量装置
JP2022042771A (ja) * 2020-09-03 2022-03-15 トヨタ自動車株式会社 測距システム
US20240027592A1 (en) 2021-08-31 2024-01-25 Faro Technologies, Inc. System and method of improving laser scanner unambiguity
DE102022128470A1 (de) * 2022-10-27 2024-05-02 Sick Ag Vorrichtung und Verfahren zur Erfassung eines Abstands
CN119044929A (zh) * 2024-08-07 2024-11-29 无锡阜时科技有限公司 发射模组及其驱动控制方法、光电检测装置及电子设备

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CN1519580A (zh) * 2003-01-16 2004-08-11 ��ʽ�������տ� 光波距离计

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JP4457525B2 (ja) 2001-06-11 2010-04-28 株式会社デンソー 距離測定装置
DE10361870B4 (de) 2003-12-29 2006-05-04 Faro Technologies Inc., Lake Mary Laserscanner und Verfahren zum optischen Abtasten und Vermessen einer Umgebung des Laserscanners

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Publication number Priority date Publication date Assignee Title
DE19811550A1 (de) * 1998-03-18 1999-09-23 Bosch Gmbh Robert Schaltungsanordnung zur Erzeugung von Frequenzsignalen
CN1519580A (zh) * 2003-01-16 2004-08-11 ��ʽ�������տ� 光波距离计

Also Published As

Publication number Publication date
JP5306376B2 (ja) 2013-10-02
US8064046B2 (en) 2011-11-22
US20100195086A1 (en) 2010-08-05
WO2009095383A1 (de) 2009-08-06
DE102008014274B4 (de) 2020-07-09
EP2238470A1 (de) 2010-10-13
DE102008014274A1 (de) 2009-08-06
CN101932953A (zh) 2010-12-29
JP2011522216A (ja) 2011-07-28

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