DE102005045563A1 - Laser scanner for three-dimensional measuring of environments or items under test, uses two laser mechanisms, one serving as phase shift measuring system and other as pulse run time measuring system - Google Patents

Laser scanner for three-dimensional measuring of environments or items under test, uses two laser mechanisms, one serving as phase shift measuring system and other as pulse run time measuring system Download PDF

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Publication number
DE102005045563A1
DE102005045563A1 DE102005045563A DE102005045563A DE102005045563A1 DE 102005045563 A1 DE102005045563 A1 DE 102005045563A1 DE 102005045563 A DE102005045563 A DE 102005045563A DE 102005045563 A DE102005045563 A DE 102005045563A DE 102005045563 A1 DE102005045563 A1 DE 102005045563A1
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Germany
Prior art keywords
measuring
laser
laser scanner
measuring system
phase shift
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DE102005045563A
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German (de)
Inventor
Christoph Dr. Fröhlich
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Z & F Zoller & Froehlich GmbH
Zoller and Froehlich GmbH
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Z & F Zoller & Froehlich GmbH
Zoller and Froehlich GmbH
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Priority to DE102005045563A priority Critical patent/DE102005045563A1/en
Publication of DE102005045563A1 publication Critical patent/DE102005045563A1/en
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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
    • 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
    • G01S17/02—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
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

The laser scanner includes two laser mechanisms, one used as a phase shift measuring system and other as a pulse run time measuring system. Each of the measuring systems preferably uses a common electro optical transmitter and receiver, and is assigned with a deflecting system. An independent claim is also included for a three dimensional scanning method.

Description

Die Erfindung betrifft einen Laserscanner zum dreidimensionalen Vermessen von Umgebungen bzw. Messobjekten und ein Verfahren zur Anwendung des Laserscanners.The The invention relates to a laser scanner for three-dimensional surveying of environments or metrics and a method of application of the laser scanner.

Bekannte Laserscanner zum dreidimensionalen Vermessen von Umgebungen bzw. einzelnen Messobjekten funktionieren nach dem Prinzip der Triangulation-, Phasenverschiebung- oder der Pulslaufzeitmessung. Jedes dieser Messverfahren hat Vor- und Nachteile und so gibt es kein einziges Messprinzip, welches alle am Markt gestellten Anforderungen mit unterschiedlichen Einsatzgebieten wie z. B. Industrievermessung, Denkmalschutz, Anlagenbau, abdeckt.Known Laser scanner for the three-dimensional measurement of environments or individual measuring objects function on the principle of triangulation, Phase shift or the pulse transit time measurement. Each of these measuring methods has pre- and Disadvantages and so there is no single measuring principle, all Market requirements with different applications such as B. Industrial surveying, monument protection, plant construction covers.

Triangulationsverfahren werden vorwiegend zur hochgenauen Erfassung von Messobjekten im Nahbereich (typischerweise kleiner als 5 mm) eingesetzt, wobei die Messzeit für einzelne Messpunkte relativ groß ist (typischerweise mehrere ms für eine Messung).triangulation are mainly used for the high-precision acquisition of measurement objects in the near range (typically less than 5mm), with the measurement time for individual Measuring points is relatively large (typically several ms for a measurement).

Laserscanner, basierend auf der Phasenverschiebungsmessung, sind geeignet für die Vermessung von Objekten in einem mittleren Entfernungsbereich (typischerweise kleiner als 60m) mit sehr hohen Messraten (typischerweise mehrere 100.000 Messungen pro sec.), weisen jedoch bei der Vermessung von Objekten im weiten Entfernungsbereich erhöhte Messungenauigkeiten auf.Laser scanners, based on the phase shift measurement, are suitable for the survey of objects in a medium distance range (typically less than 60m) with very high measuring rates (typically several 100,000 measurements per sec.), But show in the measurement of Objects in the far distance range increased measurement inaccuracies.

Laserscanner basierend auf der Pulslaufzeitmessung sind geeignet zur Abtastung von Messobjekten in mittleren und großen Entfernungen (typischerweise bis zu mehreren hundert Meter) weisen jedoch eine vergleichbare langsame Messgeschwindigkeit auf (typischerweise 1.000–10.000 Messungen pro sec.).laser scanner based on the pulse transit time measurement are suitable for scanning of measured objects in medium and long distances (typically up to several hundred meters), however, have a comparable slow measuring speed (typically 1,000-10,000 Measurements per sec.).

Somit ist je nach Art der Anwendung und den gestellten Anforderungen wie z. B. Geschwindigkeit und Genauigkeit sowie der Entfernung des zu erfassenden Messobjekts ein jeweils anderes Messprinzip besonders geeignet.Consequently depends on the type of application and the requirements such as z. As speed and accuracy and the distance to the measuring object in question has a different measuring principle in particular suitable.

Aufgabe der vorliegenden Erfindung ist es, einen Laserscanner zu schaffen, der die Vorteile unterschiedlicher Prinzipien innerhalb eines Messgerätes vereinigt und so eine universelle Nutzung ermöglicht.task The present invention is to provide a laser scanner, which combines the advantages of different principles within a measuring device and so a universal use allows.

Diese Aufgabe wird gelöst durch einen Laserscanner nach Anspruch 1 und durch ein Verfahren nach Anspruch 5.These Task is solved by a laser scanner according to claim 1 and by a method according to Claim 5.

Erfindungsgemäß sind in einem Laserscanner zum dreidimensionalen Scannen von Umgebungen bzw. Messobjekten zwei oder mehrere nach unterschiedlichen Messprinzipien arbeitende Entfernungsmesser bzw. Messsysteme integriert. Es ist dadurch möglich, mit dem erfindungsgemäßen Laserscanner Messobjekte mit dem jeweils geeigneten Messprinzip, bspw. Pulslaufzeit und Phasendifferenzmessung optimal abzutasten, so dass der erfindungsgemäße Laserscanner äußerst flexibel einsetzbar ist.According to the invention are in a laser scanner for three-dimensional scanning of environments or measuring objects two or more according to different measuring principles working rangefinder or measuring systems integrated. It is thereby possible with the laser scanner according to the invention Measuring objects with the respectively suitable measuring principle, eg pulse duration Optionally sense and phase difference measurement, so that the laser scanner according to the invention extremely flexible can be used.

Zur Erhöhung der Kompaktheit des Laserscanners können die unterschiedlichen Messsysteme in einem gemeinsamen System angeordnet sein und einen gemeinsamen elektrooptischen Sender und Empfänger benutzen.to increase the compactness of the laser scanner, the different Measuring systems can be arranged in a common system and one common electro-optical transmitter and receiver use.

Die Messsysteme werden vorzugsweise unabhängig voneinander angesteuert, so dass jeweils eines der Messsysteme einen Messstrahl erzeugt. Die Messsysteme können aber auch gleichzeitig betrieben werden, wobei die Vermessung mit einem Messsystem in eine Richtung und mit einem anderen Messsystem vorzugsweise in eine andere, z. B. diametral angeordneten, Richtung erfolgt.The Measuring systems are preferably controlled independently of each other, so that in each case one of the measuring systems generates a measuring beam. The Measuring systems can but also operated simultaneously, the survey with a measuring system in one direction and with another measuring system preferably in another, z. B. arranged diametrically, direction he follows.

Bei einem erfindungsgemäßem Verfahren zum dreidimensionalen Vermessen wird ein erfindungsgemäßer Laserscanner eingesetzt.at a method according to the invention for Three-dimensional measuring is an inventive laser scanner used.

Sonstige vorteilhafte Ausführungsformen der Erfindung sind Gegenstand weiterer Unteransprüche.other advantageous embodiments The invention are the subject of further subclaims.

Ein bevorzugtes Ausführungsbeispiel eines Laserscanners zum dreidimensionalen Scannen einer Umgebung bzw. eines Messobjektes hat ein Gehäuse mit erfindungsgemäß mehreren Lasereinrichtungen mit jeweils einem Messsystem bzw. Lasermesssystem zur Erzeugung jeweils eines Messstrahls zur Abtastung des Messobjekts. Die Messsysteme sind unabhängig voneinander, können aber einen gemeinsamen elektrooptischen Sender und Empfänger aufweisen. Beispielhafte Messsysteme sind ein Phasenverschiebungssystem und ein Pulslaufzeitsystem.One preferred embodiment a laser scanner for three-dimensional scanning of an environment or a measuring object has a housing according to the invention with several Laser devices, each with a measuring system or laser measuring system for generating in each case a measuring beam for scanning the measuring object. The measuring systems are independent from each other, can but have a common electro-optical transmitter and receiver. Exemplary measuring systems are a phase shifting system and a pulse transit time system.

Die Lasermesssysteme sind getrennt voneinander oder auch gemeinsam ansteuerbar, so dass entweder ein oder aber gleichzeitig mehrere Messstrahlen zur Abtastung des Messobjekts erzeugt werden können. Ferner sind die Messstrahlen in verschiedene Richtungen orientierbar.The Laser measuring systems can be controlled separately or together, so that either one or several measuring beams simultaneously can be generated to scan the DUT. Furthermore, the measuring beams orientable in different directions.

Der Laserscanner weist eine Ablenkeinrichtung mit einer 2D-Strahlung-Ablenkung auf, deren mechanischen Komponenten, wie zum Beispiel ein Strahlablenk- bzw. Umlenkspiegel zum Teil für mehrere Messsysteme getrennt aber auch teilweise kombiniert eingesetzt werden können.The laser scanner has a deflection device tion with a 2D radiation deflection, the mechanical components, such as a Strahlablenk- or deflecting mirror can be used partly for several measuring systems but also partially combined.

Des weiteren weist der Laserscanner zumindest eine Auswertungseinrichtung zur Auswertung eines reflektierten und empfangenen Messstrahls auf.Of Furthermore, the laser scanner has at least one evaluation device for evaluating a reflected and received measuring beam.

Offenbart ist ein Laserscanner zum dreidimensionalen Scannen bzw. Vermessen von Umgebungen bzw. Messobjekten mit mindestens zwei oder mehreren verschiedenen Lasermesssystemen sowie ein Verfahren zur Verwendung des Laserscanners.Disclosed is a laser scanner for three-dimensional scanning or surveying of environments or metrics with at least two or more various laser measurement systems and a method of use of the laser scanner.

Claims (5)

Laserscanner zum dreidimensionalen Vermessen, mit einer ersten Lasereinrichtung zum Abtasten einer Umgebung bzw. eines Messobjekts mit einem Messstrahl und mit zumindest einer weiteren Lasereinrichtungen zum Abtasten einer Umgebung bzw. eines Messobjekts mit Messstrahlen, wobei die erste Lasereinrichtung insbesondere ein Phasenverschiebungs-Messsystem und die zweite Lasereinrichtung insbesondere ein Pulslaufzeit-Messsystem ist.Laser scanner for three-dimensional measuring, with a first laser device for scanning an environment or a measuring object with a measuring beam and with at least one other Laser devices for scanning an environment or a measurement object with measuring beams, wherein the first laser device in particular a phase shift measuring system and the second laser device in particular is a pulse transit time measuring system. Laserscanner nach Anspruch 1, wobei alle Messsysteme vorzugsweise einen gemeinsamen elektrooptischen Sender und Empfänger benutzen.Laser scanner according to claim 1, wherein all measuring systems preferably use a common electro-optical transmitter and receiver. Laserscanner nach Anspruch 2, wobei den Messsystemen eine Ablenkeinrichtung zugeordnet ist.Laser scanner according to claim 2, wherein the measuring systems a deflection device is assigned. Laserscanner nach Anspruch 1, 2 oder 3, wobei die Messsysteme getrennt voneinander oder gemeinsam ansteuerbar und in verschiedene Richtungen orientierbar sind.Laser scanner according to claim 1, 2 or 3, wherein the Measuring systems separated from each other or jointly controllable and are orientable in different directions. Verfahren zum dreidimensionalen Scannen unter Verwendung eines Laserscanners nach einem der vorhergehenden Ansprüche, wobei kombiniert in einem Gerät mehrere Messprinzipien zur Abtastung von zumindest einem Messobjekt zur Anwendung kommen.Method for three-dimensional scanning using a laser scanner according to one of the preceding claims, wherein combined in one device several measuring principles for scanning at least one object to be measured come into use.
DE102005045563A 2005-08-29 2005-09-23 Laser scanner for three-dimensional measuring of environments or items under test, uses two laser mechanisms, one serving as phase shift measuring system and other as pulse run time measuring system Withdrawn DE102005045563A1 (en)

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DE102005045563A DE102005045563A1 (en) 2005-08-29 2005-09-23 Laser scanner for three-dimensional measuring of environments or items under test, uses two laser mechanisms, one serving as phase shift measuring system and other as pulse run time measuring system

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DE102005040845.1 2005-08-29
DE102005040845 2005-08-29
DE102005045563A DE102005045563A1 (en) 2005-08-29 2005-09-23 Laser scanner for three-dimensional measuring of environments or items under test, uses two laser mechanisms, one serving as phase shift measuring system and other as pulse run time measuring system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009040991A1 (en) * 2009-09-10 2011-04-07 Carl Zeiss Ag Arrangement for measurement of surface contour of three dimensional body, during quantitative quality control in industrial production, has measuring device determining data under application of phase modulated optical signals
WO2018192897A1 (en) * 2017-04-19 2018-10-25 Valeo Schalter Und Sensoren Gmbh Traveling-situation-dependent distance determination for a motor vehicle lidar sensor apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009040991A1 (en) * 2009-09-10 2011-04-07 Carl Zeiss Ag Arrangement for measurement of surface contour of three dimensional body, during quantitative quality control in industrial production, has measuring device determining data under application of phase modulated optical signals
DE102009040991B4 (en) * 2009-09-10 2012-11-08 Carl Zeiss Ag Measuring arrangement and method for measuring a surface
WO2018192897A1 (en) * 2017-04-19 2018-10-25 Valeo Schalter Und Sensoren Gmbh Traveling-situation-dependent distance determination for a motor vehicle lidar sensor apparatus
US20230121106A1 (en) * 2017-04-19 2023-04-20 Valeo Schalter Und Sensoren Gmbh Driving-situation-dependent range finding for a motor vehicle lidar sensor apparatus

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Effective date: 20110419