JP2017125844A - 光電センサ及び距離測定方法 - Google Patents
光電センサ及び距離測定方法 Download PDFInfo
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- JP2017125844A JP2017125844A JP2016241889A JP2016241889A JP2017125844A JP 2017125844 A JP2017125844 A JP 2017125844A JP 2016241889 A JP2016241889 A JP 2016241889A JP 2016241889 A JP2016241889 A JP 2016241889A JP 2017125844 A JP2017125844 A JP 2017125844A
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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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
- G01S17/10—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
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
-
- 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
- G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
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- 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)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
Description
Claims (13)
- 監視領域(12)内の物体までの距離を測定するための光電センサであって、一続きの個別光パルス(22)を前記監視領域(12)へ送出するための発光器(20)と、前記物体により直反射又は拡散反射された個別光パルス(24)を検出するための少なくとも1つの受光素子を有する受光器(26)と、一続きの前記個別光パルス(22、24)の個別光伝播時間を、各個別光パルス(22)の発光時点と前記受光素子(26)により該個別光パルスが検出された受光時点との間の時間として決定するための個別光伝播時間測定ユニット(28)と、個別光伝播時間を累算してその結果から距離に対応する共通の測定値を決定する評価ユニット(30、32)とを備える光電センサにおいて、
前記評価ユニット(30)が、先行する個別光伝播時間と時間窓の範囲内で一致する個別光伝播時間だけを累算するために、フィルタ(36)を備えることを特徴とするセンサ。 - 前記評価ユニット(30)が、個別光伝播時間を集計するための累算器(40)、特に加算器(42)と、集計された個別光伝播時間の個数を数えるカウンタ(44)とを備えていることを特徴とする請求項1に記載のセンサ。
- 前記評価ユニット(30)において、このカウント値より後ではそれまでの共通の測定値と前記時間窓の範囲内で一致する個別光伝播時間に対してのみ前記フィルタ(36)が追加的又は代替的にその累算を許可する、というカウント値が予め設定可能であることを特徴とする請求項2に記載のセンサ。
- 前記フィルタ(36)が、個別光伝播時間の量差を求めて前記時間窓と比較するために少なくとも1つの減算器段(44)を備えていることを特徴とする請求項1〜3のいずれかに記載のセンサ。
- 前記評価ユニット(30)が少なくとも1つの先行する個別光伝播時間のための一時メモリ(34)を備えていることを特徴とする請求項1〜4のいずれかに記載のセンサ。
- 前記一時メモリ(34)が複数の先行する個別光伝播時間のためのシフトメモリ(42)として構成され、前記フィルタ(36)が、記憶された先行する個別光伝播時間の少なくとも1つと前記時間窓の範囲内で一致する個別光伝播時間に対してのみその累算を許可することを特徴とする請求項5に記載のセンサ。
- 前記評価ユニット(30、46)が個別光伝播時間の累算の過程で前記時間窓を変化させるように構成されていることを特徴とする請求項1〜6のいずれかに記載のセンサ。
- 前記評価ユニット(30、46)が前記時間枠を前記カウント値に及び/又は前記共通の測定値の分散に適合させることを特徴とする請求項7に記載のセンサ。
- 前記個別光伝播時間測定ユニット(28)が時間・デジタル変換器を備えていることを特徴とする請求項1〜8のいずれかに記載のセンサ。
- 前記受光器(26)が多数の受光素子と該受光素子に対して個別に又はグループ毎に割り当てられた複数の個別光伝播時間測定ユニット(28)とを備えていることを特徴とする請求項1〜9のいずれかに記載のセンサ。
- 前記受光素子がガイガーモードで駆動されるアバランシェフォトダイオードであることを特徴とする請求項1〜10のいずれかに記載のセンサ。
- 前記評価ユニット(30)が少なくとも部分的に前記受光器(26)上に、特に受光素子毎又は受光素子グループ毎に、統合されていることを特徴とする請求項1〜11のいずれかに記載のセンサ。
- 監視領域(12)内の物体までの距離を測定する方法であって、一続きの個別光パルス(22)が前記監視領域(12)へ送出され、前記物体により直反射又は拡散反射された個別光パルス(24)が再び受光され、一続きの前記個別光パルス(22、24)の個別光伝播時間が、各個別光パルス(22)の発光時点と前記受光素子(26)により該個別光パルスが検出された受光時点との間の時間として決定され、個別光伝播時間が累算され、その結果から距離に対応する共通の測定値が決定される方法において、
フィルタ(36)を用いて、先行する個別光伝播時間と時間窓の範囲内で一致する個別光伝播時間だけが累算されることを特徴とする方法。
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EP15202272.9 | 2015-12-23 | ||
EP15202272.9A EP3185038B1 (de) | 2015-12-23 | 2015-12-23 | Optoelektronischer sensor und verfahren zur messung einer entfernung |
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