DE4340756C5 - Laser range finding device - Google Patents
Laser range finding device Download PDFInfo
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- DE4340756C5 DE4340756C5 DE4340756A DE4340756A DE4340756C5 DE 4340756 C5 DE4340756 C5 DE 4340756C5 DE 4340756 A DE4340756 A DE 4340756A DE 4340756 A DE4340756 A DE 4340756A DE 4340756 C5 DE4340756 C5 DE 4340756C5
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Classifications
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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
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- 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
- 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
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- 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
- G01S7/497—Means for monitoring or calibrating
Landscapes
- 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
Laserabstandsermittlungsvorrichtung nach dem Impulslaufzeitverfahren mit einem Impulslaser (11), der gesteuert Lichtimpulse (12) in einen Messbereich (13) sendet, einer Photoempfangsanordnung (22), welche die von einem im Messbereich (13) befindlichen Objekt (14) zurückgeworfenen Lichtimpulse (12') empfängt und einer Auswerteschaltung (23, 30, 34, 36, 37, 38, 39, 40), welche unter Berücksichtigung der Lichtgeschwindigkeit aus der Zeit zwischen Aussendung und Empfang eines Lichtimpulses (12, 12') ein für den Abstand des Objektes (14) vom Impulslaser (11) charakteristisches Abstandssignal ermittelt, wobei zwischen dem Messbereich (13) und dem Impulslaser (11) eine Lichtablenkvorrichtung (15) angeordnet ist, welche an die Auswerteschaltung (23, 30, 34, 36, 37, 38, 39, 40) ein für ihre momentane Winkelstellung repräsentatives Winkelpositionssignal abgibt und wobei die Auswerteschaltung (23, 30, 34, 36, 37, 38, 39, 40) aus dem Abstandssignal und dem Winkelpositionssignal den Ort des Objektes (14) innerhalb des Messbereiches (13) ermittelt, dadurch gekennzeichnet, dass die Lichtablenkvorrichtung (15) zur Aussendung der aufeinanderfolgenden Lichtimpulse (12) unter sich...Laser distance detection device according to the pulse transit time method with a pulse laser (11), the controlled Transmitting light pulses (12) in a measuring range (13), a photo receiving device (22), which are the objects located in the measuring area (13) (14) thrown back Light pulses (12 ') receives and an evaluation circuit (23, 30, 34, 36, 37, 38, 39, 40), which under consideration the speed of light from the time between transmission and reception a light pulse (12, 12 ') for the distance of the object (14) from the pulse laser (11) characteristic distance signal detected, wherein between the measuring area (13) and the pulse laser (11) a light deflecting device (15) is arranged, which to the evaluation circuit (23, 30, 34, 36, 37, 38, 39, 40) for its instantaneous angular position representative angular position signal and the evaluation circuit (23, 30, 34, 36, 37, 38, 39, 40) from the distance signal and the angular position signal the Location of the object (14) within the measuring range (13) determined, thereby characterized in that the light deflecting device (15) for transmission the successive light pulses (12) under it ...
Description
Die Erfindung betrifft eine Laserabstandsermittlungsvorrichtung nach dem Oberbegriff des Patentanspruchs 1.The The invention relates to a laser distance detection apparatus according to the preamble of claim 1.
Eine
derartige Laserabstandsermittlungsvorrichtung ist aus der deutschen
Offenlegungsschrift
Aus dem US-Patent 4 475 035 ist eine Vorrichtung bekannt, mittels welcher die Oberfläche eines Objektes abgetastet werden kann, wobei das Objekt in konstantem Abstand zur Vorrichtung entlang einer vorgegebenen Bahn auf einem Förderband transportiert wird. Dabei kann die Intensität des von der abzutastenden Oberfläche reflektierten Lichts ausgewertet oder der Abstand der abzutastenden Oberfläche von der Vorrichtung mittels eines Laserabstandsermittlungssystems bestimmt werden.Out US Pat. No. 4,475,035 discloses a device by means of which the surface an object can be scanned, the object in constant Distance to the device along a given path on one conveyor belt is transported. In this case, the intensity of the reflected surface to be scanned by the Evaluated light or the distance of the surface to be scanned the device determined by means of a laser distance detection system become.
Aus
der deutschen Patentschrift
Ferner
ist aus den Schriften
Die
deutsche Patentschrift
In
der deutschen Patentanmeldung
Das
deutsche Patent
Das Fachbuch "Bernhard Krieg, Automatisieren mit Optoelektronik", Vogel Buchverlag, ISBN 3-8023-0487-X zeigt auf den Seiten 168 bis 172 einen Lichtvorhang, dessen Aufgabe darin besteht, zu erkennen ob sich ein Objekt in einem Schutzfeld befindet, welches zwischen einer Sende- und Empfangsanordnung und einem Reflektor ausgebildet ist. Zu diesem Zweck sendet eine Laserdiode Licht auf einen Motorspiegel, welcher das Licht über zwei Umlenkspiegel und in Richtung eines Hohlspiegels reflektiert. Die Verwendung des Hohlspiegels bewirkt dabei, dass die die Sende- und Empfangsanordnung verlassenden Lichtstrahlen parallel zueinander ausgerichtet sind. Gleiches gilt für diejenigen Lichtstrahlen, die vom Reflektor zur Sende- und Empfangsanordnung zurückreflektiert werden. Diese parallel zueinander ausgerichteten Sende- und Empfangsstrahlen durchlaufen das Schutzfeld in entgegengesetzt zueinander verlaufenden Richtungen. Wenn sich im Schutzfeld ein Objekt befindet, wird die Reflexion durch den am Ende des Schutzfelds befindlichen Reflektor gestört, was bewirkt, dass ein ausgesandter Lichtstrahl nicht empfangen werden kann. In diesem Fall wird dann ein Objekterkennungssignal ausgegeben.The textbook "Bernhard war, automate with optoelectronics", bird book publishing house, ISBN 3-8023-0487-X shows on the sides 168 to 172 a light curtain, whose task is to recognize whether an object is in a protective field, which between a transmitting and receiving arrangement and a reflector is formed. For this purpose, a laser diode sends light to a motor mirror, which reflects the light via two deflecting mirrors and in the direction of a concave mirror. The use of the concave mirror thereby causes the light beams leaving the transmitting and receiving arrangement to be aligned parallel to one another. The same applies to those light beams that are reflected back from the reflector to the transmitting and receiving device. These mutually parallel transmitting and receiving beams pass through the protective field in opposite directions. If an object is in the protective field, the reflection is disturbed by the reflector located at the end of the protective field, which means that an emitted light beam can not be received. In this case, an object detection signal is output.
Der beschriebene Lichtvorhang weist weiterhin eine Vorrichtung für die Abstandsmessung auf. Aus dem letzten Absatz der Seite 171 geht hervor, dass lediglich der Abstand des Reflektors von der Sende-Empfangsanordnung gemessen wird, um auf diese Weise Manipulationen auszuschließen, die ansonsten dadurch bewirkt werden könnten, dass ein Reflektor in unmittelbarer Nähe der Sende-Empfangsanordnung angeordnet würde, so dass die Lichtstrahlen das eigentliche Schutzfeld überhaupt nicht erreichen würden.Of the described light curtain further comprises a device for the distance measurement on. The last paragraph of page 171 shows that only measured the distance of the reflector from the transceiver assembly in order to rule out manipulations in this way otherwise could be caused by a reflector in the immediate Near the Transceiver arrangement would be arranged so that the light beams the actual protective field at all would not reach.
Der Prospekt LVS 450... LVS 1400 "Barriere ottiche antinfortunatstiche" der Fa. Sick beschreibt Lichtvorhänge, die dazu geeignet sind, ein Vorhandensein von Objekten, nicht jedoch deren Position, zu bestimmen.Of the Brochure LVS 450 ... LVS 1400 "Barrier ottiche antinfortunatstiche "the Fa. Sick describes light curtains, which are suitable for the presence of objects, not however whose position to determine.
Im GMR-Bericht 5 der VDI/VDE-Gesellschaft Mess- und Regelungstechnik vom 06.–07. Februar 1985 sind ausgewählte Anwendungsbeispiele von opto-elektronischen Bauelementen in der Messtechnik beschrieben. Auf Seite 13 ist ein optisches Lotungssystem, das einen ablenkbaren Diodenlaserstrahl einsetzt, erwähnt und schematisch dargestellt (Bild 9). Die genannte Darstellung zeigt einen Diodenlaser, welcher Licht in Richtung eines ersten, kleineren Umlenkspiegels sendet. Von diesem kleineren Umlenkspiegel gelangt das umgelenkte Licht auf einen Drehspiegel, welcher das Licht in Richtung eines Objektes ablenkt. Das vom Objekt reflektierte Licht gelangt wiederum über den Drehspiegel zu einem Detektor. Um das in der drittletzten Zeile auf Seite 13 des genannten Berichts erwähnte Höhenrasterbild zu erhalten, muss eine Relativbewegung zwischen dem Drehspiegel und dem Objekt stattfinden. Die Abbildung in der dritten Zeile der Tabelle auf Seite 10 des genannten Berichts zeigt einen Drehspiegel, welcher mit einem halbkreisförmigen Doppelpfeil gekennzeichnet ist und der ein Hin- und Herschwenken des Drehspiegels symbolisiert.in the GMR Report 5 of the VDI / VDE Society for Measurement and Control Technology from 06.-07. February 1985 are selected Application examples of opto-electronic components in the Measurement technology described. On page 13 is an optical sound system, which uses a deflectable diode laser beam mentioned and shown schematically (Figure 9). The above illustration shows a diode laser which directs light toward a first, smaller one Deflection mirror sends. From this smaller deflection mirror arrives the redirected light on a rotating mirror, which the light in Direction of an object distracts. The light reflected by the object gets over again the rotating mirror to a detector. In the third to last line on page 13 of the above report, must have a relative movement between the rotating mirror and the object occur. The figure in the third row of the table Page 10 of the above report shows a rotating mirror, which with a semicircular Double arrow is marked and the one swinging back and forth of the rotating mirror symbolizes.
Im Aufsatz von J. Moring et al. in "Optical Engineering", Band 28, Nr. 8, Seiten 897–902, August 1989 ist eine Einrichtung zur Erzeugung dreidimensionaler Bilddaten beschrieben, welche mit Lichtstrahlen einer Impulslänge von 8 ns arbeitet. Weiterhin ist eine maximale Scanrate von 20 Linien pro Sekunde sowie eine Pulsfolgefrequenz von 1 MHz angegeben.in the Review by J. Moring et al. in "Optical Engineering ", volume 28, No. 8, pages 897-902, August 1989 is a device for producing three-dimensional Image data described with light rays of a pulse length of 8 ns works. Furthermore, a maximum scan rate of 20 lines per second and a pulse repetition frequency of 1 MHz.
Das Fachbuch M. I. Skolnik, Radar Handbook, McGraw-Hill Book Company, New York, ..., 1970, Seiten 37–46 bis 37–49 beschäftigt sich mit der Thematik "Laser-Radar" und insbesondere mit der Verwendung von Interferenzfiltern in der Laser-Radar-Optik.The Textbook M.I. Skolnik, Radar Handbook, McGraw-Hill Book Company, New York, ..., 1970, pages 37-46 to 37-49 employed himself with the topic "laser radar" and in particular with the use of interference filters in laser radar optics.
Die Aufgabe der vorliegenden Erfindung besteht darin, eine Vorrichtung der eingangs genannten Art derart weiterzubilden, daß bei geringem wirtschaftlichen Aufwand die Positionsbestimmung von Objekten in räumlichen Bereichen ermöglicht wird, wobei die erfindungsgemäße Vorrichtung beispielsweise im Zusammenhang mit der Absicherung von fahrerlosen Transportsystemen sowie allgemeinen Bereichsabsicherungen zum Einsatz kommen soll. Insbesondere soll erfindungsgemäß ein möglichst großes Suchfeld ohne anfängliche Justierung und ohne Nachführeinrichtung überwacht werden können, die Anzahl der für ein- und austretende Lichtstrahlen vorgesehenen Gehäuseöffnungen der Vorrichtung reduziert werden und die gleichzeitige Erkennung und Verfolgung von mehreren innerhalb des Suchfeldes vorhandenen Objekten ermöglicht werden.The The object of the present invention is a device of the type mentioned in such a way that at low economic effort the positioning of objects in spatial Areas allows is, wherein the inventive device For example, in connection with the hedge of driverless Transport systems and general area safeguards are used should come. In particular, according to the invention, the largest possible search field without initial Adjustment and monitored without tracking device can be the number of for incoming and outgoing light beams provided housing openings the device can be reduced and the simultaneous detection and tracking multiple within the search field Allows objects become.
Zur Lösung der genannten Aufgaben sind die Merkmale des kennzeichnenden Teils des Patentanspruchs 1 vorgesehen.to solution The above-mentioned objects are the features of the characterizing part of claim 1 provided.
Bevorzugte Dimensionierungen des Laserradars sind durch die Patentansprüche 2 bis 5 definiert. Es wird z.B. erreicht, daß in 50 bis 150 und insbesondere 100 μs ein Winkelbereich von etwa 1° durch die Lichtablenkvorrichtung überstrichen wird.preferred Dimensions of the laser radar are defined by the claims 2 to 5 defined. It is e.g. achieved that in 50 to 150 and in particular 100 μs Angular range of about 1 ° through the light deflector swept over becomes.
Wenn andererseits etwa alle 50 μs ein Lichtimpuls kurzer Dauer ausgesendet wird, so bedeutet dies, daß etwa alle 1/2° ein Lichtimpuls ausgesendet wird oder bei einem Gesamtabtastbereich von 180° 360 Impulse. Dies reicht für eine im Sicherheitsbereich erforderliche Winkelauflösung vollständig aus.If on the other hand about every 50 μs a light pulse of short duration is emitted, it means that about all 1/2 ° on Light pulse is emitted or in a Gesamtabtastbereich from 180 ° 360 Impulse. This is enough for a required in the security area angle resolution completely.
Die zwischen zwei ausgesandten Lichtimpulsen liegende Zeit von etwa 50 μs wird für weiter unten beschriebene Tests genutzt.The between two emitted light pulses time of about 50 μs will be for further used the tests described below.
Von besonderem Vorteil sind die Ausführungsformen nach den Ansprüchen 6 bis 22, denn hierdurch wird auf eine baulich kompakte und optisch sehr effektive Weise eine Abtastung eines gewünschten Raumbereiches gewährleistet, wobei der Abtastwinkel bis 360° gehen kann, normalerweise jedoch nur 180° beträgt.From The embodiments are particularly advantageous according to the claims 6 to 22, because this is a structurally compact and visual very effective way of ensuring a scan of a desired area of space, where the scanning angle go up to 360 ° can be, but usually only 180 °.
Von besonderem Vorteil ist dabei die konzentrische Ausbildung von Sende- und Empfangs-Impulslichtbündeln nach den Ansprüchen 11 und 12. Hierdurch wird insbesondere eine saubere geometrische Strahltrennung sowie Empfindlichkeit im Nahbereich erzielt.From A particular advantage is the concentric design of transmitting and receive pulse beams according to the claims 11 and 12. This is in particular a clean geometric Beam separation and sensitivity in the near range achieved.
Die Drehzahlen nach Anspruch 21 sind besonders vorteilhaft, weil hierdurch im Zusammenhang mit den verwendeten Impulsfolgefrequenzen eine ausreichende winkelmäßige und zeitliche Auflösung erzielt wird.The Speeds according to claim 21 are particularly advantageous, because thereby sufficient in connection with the pulse repetition frequencies used angular and temporal resolution is achieved.
Im Zusammenhang mit den folgenden Ausführungsformen ist die Verwendung eines Computers gemäß Anspruch 23 von großer Bedeutung. Hierdurch können insbesondere die verschiedenen Selbstüberwachungsfunktionen des Systems wahrgenommen werden.in the The use is related to the following embodiments a computer according to the claim 23 of great Importance. This allows in particular the various self-monitoring functions of the system be perceived.
Die Weiterbildungen der Erfindung nach den Ansprüchen 24 und 25 gewährleisten eine für die vorgesehenen Überwachungszwecke voll ausreichende Abstandsauflösung in der Größenordnung von 5 cm/Bit, wobei ein Bit durch eine oder eine halbe Periode der Taktfrequenz definiert ist.The Ensure developments of the invention according to claims 24 and 25 one for the intended monitoring purposes fully adequate distance resolution in the order of magnitude of 5 cm / bit, one bit by one or a half period of the Clock frequency is defined.
Die an sich durch die Taktfrequenz gegebene Auflösung kann durch die Ausführungsform nach Anspruch 26 und 27 halbiert werden.The in itself given by the clock frequency resolution can by the embodiment halved according to claim 26 and 27.
Von besonderem Vorteil ist jedoch, daß durch die Verwendung von zwei parallel geschalteten Einzelzählern eine Fehlerüberwachung gemäß den Ansprüchen 28 bis 30 durchgeführt werden kann.From particular advantage, however, is that through the use of two parallel-connected individual meters an error monitoring according to claims 28 performed until 30 can be.
Ein weiterer Fehlertest, der insbesondere beim Ausführungsbeispiel nach Anspruch 30 zusätzlich herangezogen wird, ist im Anspruch 31 definiert.One another error test, in particular in the embodiment according to claim 30 additional is used in claim 31 is defined.
Weiter ist es vorteilhaft, wenn nach den Ansprüchen 32 bis 35 auch der Rauschpegel, dem das Nutz-Impulssignal überlagert ist, berücksichtigt wird, da sowohl die Helligkeit in den überwachten Räumen als auch der Reflexionsgrad der überwachten Gegenstände stark schwanken können.Further It is advantageous if according to claims 32 to 35, the noise level, which superimposes the useful pulse signal is taken into account because both the brightness in the monitored rooms as well the reflectance of the monitored objects can vary greatly.
Eine weitere vorteilhafte Ausführungsform ist durch Anspruch 37 gekennzeichnet. Insbesondere durch diese Weiterbildung der Erfindung kann eine Meßgenauigkeit bis zu 5 cm/Bit erreicht werden.A further advantageous embodiment is characterized by claim 37. In particular, by this development The invention can be a measurement accuracy up to 5 cm / bit can be achieved.
Durch das Ausführungsbeispiel nach Anspruch 38 können Fehler im Sende- und Empfangssystem der Vorrichtung ermittelt werden.By the embodiment according to claim 38 Errors are detected in the transmitting and receiving system of the device.
Die Weiterbildung nach Anspruch 39 ermöglicht es außerdem, die einwandfreie Funktion der vorzugsweise verwendeten Lawinen-Empfangsdiode zu überprüfen.The Training according to claim 39 also makes it possible the proper functioning of the avalanche receiving diode preferably used to check.
Die erfindungsgemäße Vorrichtung befindet sich zweckmäßigerweise in einem Gehäuse, welches im Bereich des Austritts des Sende-Impulslichtbündels und des Empfangs-Impulslichtbündels durch eine entsprechend der Abtastung gekrümmte Frontscheibe abgeschlossen ist.The inventive device is conveniently located in a housing, which in the region of the exit of the transmitted pulse light beam and of the reception pulse light beam completed by a curved according to the scanning windscreen is.
Über ein gemäß Anspruch 41 vorgesehenes Interface können alle gewünschten Navigations- und Fehlersignale in geeigneter Weise umgewandelt und abgerufen werden.About one according to claim 41 provided interface can all you want Navigation and error signals converted appropriately and be retrieved.
Vorteilhafte Anwendungen der erfindungsgemäßen Vorrichtung entnimmt man dem Anspruch 42.advantageous Applications of the device according to the invention one takes the claim 42.
Der besondere Vorteil der erfindungsgemäßen Laserradarvorrichtung besteht darin, daß sie gegen jedweden Systemfehler abgesichert ist. Dies gilt sowohl für Fehler im optischen Bereich als auch in der Auswerteelektronik.Of the particular advantage of the laser radar device according to the invention consists in that she is secured against any system error. This is true for both mistakes in the optical range as well as in the evaluation electronics.
Die Erfindung wird im folgenden beispielsweise anhand der Zeichnung beschrieben; in dieser zeigt:The Invention will be described below, for example, with reference to the drawing described; in this shows:
Nach
Auf
dem Drehteller
Oberhalb
des Drehspiegels
Die
Empfängerlinse
Nach
Über die
Sendelinse
Das
Ausgangssignal des Photoempfängers
Vom
Impulslaser
Da
dem Computer
Die
Arbeitsweise der beschriebenen Vorrichtung ist wie folgt:
Bei
durch den Motor
By the engine
Die
Zeit t zwischen dem Aussenden und Empfangen des Lichtimpulses wird
mit Hilfe des Zeitintervall-Zählers
Die
Aufgabe des Rauschpegelmessers
Die
Aufgabe des Spitzenwertdetektors
Erfindungsgemäß werden
die Zeitmeßfehler
(beispielsweise
Der
Spitzenwertdetektor
Auf diese Weise werden entsprechende Meßfehler eliminiert, und es wird insgesamt eine Genauigkeit von beispielsweise 5 cm/Bit erzielt.On this way, corresponding measurement errors are eliminated, and it an overall accuracy of, for example, 5 cm / bit is achieved.
Die
Zeitfehlereliminierung mittels des Spitzenwertdetektors
Da
die Steuerstufe
Sobald
das Schutzfeld
Nach
Die
anhand von
Das erfindungsgemäße Laserradar hat eine Reichweite von 4 bis 6 m und eine Auflösung von besser als 7 cm. Die Erfassungszeit beträgt ca. 40 ms, und der Erfassungswinkel ist in allen Fällen 180°.The inventive laser radar has a range of 4 to 6 m and a resolution of better than 7 cm. The Collection time is about 40 ms, and the detection angle is 180 ° in all cases.
Am
Interface
Bei
der Ausführungsform
nach
Bei
der Navigationsstützung
nach
Der
entfernungsbegrenzte Schutzbereich
Erfindungsgemäß ist der
Zähler
Nach
To
Der
Schalteingang des Flip-Flops
Der
Ausgang des Komparators
Vom
Computer
Die
Zählerausgangssignale
der Einzelzähler
Das
Zählsignal
des zweiten Einzelzählers
Der
Testzählimpulseingang
Die
beiden Einzelzähler
Mit
dem anhand von
Während der
Drehspiegel
While the rotating mirror
Die
Zählung
der Halbwellen der Höchstfrequenzspannung
aus dem Frequenzgenerator
Nachdem während jeder Periode der Höchstfrequenzspannung zwei Bits erzeugt werden, wird bei einer Frequenz von 1,5 GHz eine zeitliche Auflösung bei der Laufzeitmessung (t) von 330 ps und damit eine Entfernungsmeßgenauigkeit von 5 cm/Bit erzielt.After this while every period of the highest frequency voltage two bits is generated, at a frequency of 1.5 GHz temporal resolution at the transit time measurement (t) of 330 ps and thus a distance measuring accuracy scored from 5 cm / bit.
Nachdem
auf diese Weise eine Laufzeitmessung erfolgt ist, schaltet der Computer
Der
vorgenannte Test kann beispielsweise nach jedem empfangenen Lichtimpuls
Im
letzteren Falle wird vom Computer
Der
Zählvorgang
wird vom Computer über
die Steuerleitung
Ein
einmal ausgelöster
Testzählvorgang
wird solange fortgesetzt, bis die Zähler
Durch
diesen zweiten Test, der ebenfalls nur einmal nach jeder Abtastung
durchgeführt
wird, kann geprüft
werden, ob die logischen Funktionen korrekt arbeiten. Da der Computer
Die
Anordnung von zwei Einzelzählern
Die
Da
die streuenden Eigenschaften des Testkörpers
Das
Empfangssignal Us der Photoempfangsanordnung
In dieser Formel bedeuten:
- Us:
- Empfangssignal
- Ps:
- Sendeleistung
- Rr:
- Testzielreflexionsgrad
- Rq:
- Quantenwirkungsgrad
- M:
- Multiplikationsfaktor
der verwendeten Lawinendiode
23 - Rt:
- Transimpedanz der
Lawinendiode
23 (effektiver Arbeitswiderstand der Diode).
- Us:
- receive signal
- ps:
- transmission power
- rr:
- Test target reflectance
- RQ:
- Quantum efficiency
- M:
- Multiplication factor of the avalanche diode used
23 - Rt:
- Transimpedance of the avalanche diode
23 (effective working resistance of the diode).
Der
Computer prüft
nun, ob das Empfangssignal Us wenigstens den Wert einer vorgegebenen
Grenzwertkonstante K1 erreicht. Ist dies der Fall, so wird die Sende-Empfangsanordnung
als einwandfrei bewertet und die Messung fortgesetzt. Sinkt jedoch
das Empfangssignal Us bei dem vorbeschriebenen Test unter K1 ab,
zu meldet der Computer
Gemäß
Der
vom Rauschpegelmeser
Der
Computer
In den vorgenannten Formeln bedeuten:
- I:
- Photostrom in der
Photodiode
23 - Ur:
- Rauschspannung aufgrund
der Beleuchtung durch die Leuchtdiode
88 - M:
- Multiplikationsfaktor
der Lawinendiode
23 - q:
- Elementarladung (1,6·10–19 Coulomb)
- Rt:
- Transimpedanz der
Lawindendiode
23 - fg:
- Grenzfrequenz des Rauschens
- K2:
- zweite Grenzwertkonstante
- I:
- Photocurrent in the photodiode
23 - ur:
- Noise voltage due to illumination by the LED
88 - M:
- Multiplication factor of the avalanche diode
23 - q:
- Elementary charge (1.6 · 10 -19 Coulomb)
- Rt:
- Transimpedance of the avalanche diode
23 - f g :
- Cutoff frequency of the noise
- K2:
- second limit constant
Nach
der
Erfindungsgemäß weist
der untere abgewinkelte Teil der Frontscheibe
Schlägt sich
jetzt auf der aufgerauhten äußeren Fläche des
mattierten Bereiches
Von
den über
den Umfang der Frontscheibe
Weiter wird erfindungsgemäß vom Computer die Motordrehzahl und das Systemtiming überwacht. Es erfolgt eine zeitliche und logische Programmablaufüberwachung.Further is inventively by the computer monitors the engine speed and system timing. There is a temporal and logical program flow monitoring.
Die Überwachung
der elektronischen Funktionen erfolgt erfindungsgemäß durch
einen RAM-, ROM-, ALU-, Watchdog-Test, A/D-Wandler (Verschmutzungsmessung,
Rauschpegelmessung), D/A-Wandler (Komparatortest), Spitzenwertdetektor,
Stopp-Komparator und Oszillatoren für den Computer
Erfindungsgemäß sind zwei optoentkoppelte, dynamische, rückgelesene Eingriffsleitungen vorgesehen. Der Nachweis der Systemleitung basiert auf einer Worst-Case-Leistungsbilanz. Es erfolgt eine einfehlersichere Ansteuerung des Lasers (Augensicherheit). Weiter kann ein Zugriffschutz für den Einrichtmodus über Pass-Worte erreicht werden. Durch das beschriebene Lichtgitter ist eine Verschmutzungserkennung und -warnung gewährleistet.According to the invention are two Opto-decoupled, dynamic, read-back Engagement lines provided. Evidence of system management is based on a worst-case current account. There is a mistake-proof Control of the laser (eye safety). Next can be an access protection for the Setup mode via passwords be achieved. The described light grid is a contamination detection and warning.
Es liegt ein definiertes Anlaufverhalten des Systems bzw. der Schnittstelle vor. Nach dem Einschalten der Einrichtung werden alle o.g. Tests durchlaufen.It is a defined startup behavior of the system or the interface in front. After switching on the device, all o.g. Testing run through.
Die Empfindlichkeit der Sender-Empfänger-Anordnung wird so eingesteilt, daß noch Objekte mit einem Reflexionsgrad bis hinunter zu 2% erkannt werden.The Sensitivity of the transmitter-receiver arrangement is so filed that still Objects with a reflectance down to 2% can be detected.
Das
Laserradargerät
ist nach
Claims (42)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4345446A DE4345446C2 (en) | 1992-12-08 | 1993-11-30 | Laser range finder, e.g. for driverless transport system |
DE9321155U DE9321155U1 (en) | 1992-12-08 | 1993-11-30 | Laser distance determination device |
DE4345448A DE4345448C2 (en) | 1992-12-08 | 1993-11-30 | Laser range finder, e.g. for driverless transport system |
DE4340756A DE4340756C5 (en) | 1992-12-08 | 1993-11-30 | Laser range finding device |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DEP4241326.5 | 1992-12-08 | ||
DE4241326 | 1992-12-08 | ||
DE4345446A DE4345446C2 (en) | 1992-12-08 | 1993-11-30 | Laser range finder, e.g. for driverless transport system |
DE4345448A DE4345448C2 (en) | 1992-12-08 | 1993-11-30 | Laser range finder, e.g. for driverless transport system |
DE4340756A DE4340756C5 (en) | 1992-12-08 | 1993-11-30 | Laser range finding device |
Publications (3)
Publication Number | Publication Date |
---|---|
DE4340756A1 DE4340756A1 (en) | 1994-06-09 |
DE4340756C2 DE4340756C2 (en) | 1998-07-30 |
DE4340756C5 true DE4340756C5 (en) | 2006-08-10 |
Family
ID=27204530
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE4340756A Expired - Lifetime DE4340756C5 (en) | 1992-12-08 | 1993-11-30 | Laser range finding device |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE4340756C5 (en) |
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