WO2018215251A1 - Dispositif et procédé de télémesure - Google Patents

Dispositif et procédé de télémesure Download PDF

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Publication number
WO2018215251A1
WO2018215251A1 PCT/EP2018/062641 EP2018062641W WO2018215251A1 WO 2018215251 A1 WO2018215251 A1 WO 2018215251A1 EP 2018062641 W EP2018062641 W EP 2018062641W WO 2018215251 A1 WO2018215251 A1 WO 2018215251A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical
signal
transmission signal
pulse
transmitting device
Prior art date
Application number
PCT/EP2018/062641
Other languages
German (de)
English (en)
Inventor
Reiner Schnitzer
Tobias Hipp
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2018215251A1 publication Critical patent/WO2018215251A1/fr

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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
    • G01S17/02—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
    • G01S7/484—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
    • 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

Definitions

  • the invention relates to a device for distance measurement.
  • the invention further relates to a method for distance measurement.
  • the invention further relates to a computer program product.
  • DE 10 2004 037 137 A1 discloses a method for distance measurement, in which an object is illuminated with intensity-modulated electromagnetic radiation and the intensity of the radiation reflected and / or scattered by the object is detected with at least one detector in a time-sensitive or phase-sensitive manner.
  • US 2010/0045965 A1 discloses a lidar system using a pseudorandom pulse sequence in which a pseudo-random sequence of light pulses is emitted within individual partial measurements.
  • the invention provides a device for
  • a random generator means operatively connected to the optical transmitter means and to the optical receiver means;
  • the optical transmitting device is pulsed so controlled that by means of the optical transmitting device per Operamesszyloses an optical transmission signal is emitted, wherein in each Operamesszyklus a start time of the transmission signal by means of the random number generator is changeable.
  • a device for distance measurement with increased immunity to interference is advantageously provided. This is achieved by using all the possible energy of a partial measurement for one pulse.
  • An interference immunity is advantageously increased compared to known sensors because emitting sensors located in the environment do not affect the sensor itself.
  • the object is achieved with a method for operating a device for distance measurement, comprising the steps:
  • Pulsed driving of an optical transmitting device by means of a random generator device wherein the optical transmitting device is controlled such that by means of the optical transmitting device per Operamesszyloses a pulse-shaped optical transmission signal is emitted, wherein in each Operamesszyklus a start time of the optical transmission signal is changed;
  • An advantageous development of the device is characterized in that a pulse repetition frequency corresponding to the start times is constant on average. In this way, objects can be detected in defined ranges by means of an average constant pulse repetition frequency.
  • a signal processing device for an optical received signal is at least one of: optimum filter, maxium search device, center of gravity calculation device.
  • the optical transmitting device has a laser as the radiation element.
  • a further advantageous development of the device is characterized in that the device is a lidar sensor. In this way, a useful application for the device in the automotive field is provided.
  • Disclosed device features result analogously from corresponding disclosed method features and vice versa. This means, in particular, that features, technical advantages and embodiments relating to the device for distance measurement result analogously from corresponding embodiments, features and advantages of the method for operating a device for measuring distance, and vice versa.
  • the figures shows:
  • Fig. 1 is a schematic representation of an operation of a
  • Fig. 2 is an adverse effect of the conventional method of Fig. 1;
  • Fig. 3 is a schematic representation of an operation of an embodiment of a proposed method for
  • FIG. 4 shows a basic representation of a conventionally coded sequence of pulses for distance measurement; a schematic representation of an embodiment of the proposed method with variable pulse start times within a sectionmesszyklus; a schematic block diagram of an apparatus for
  • Fig. 7 is a schematic representation of an embodiment of a
  • a key idea of the present invention is, in particular, to provide a more robust device for distance measurement.
  • the proposed device is constructed like a typical pulsed lidar sensor, wherein a measurement consists of several pulse repetitions (partial measurements) (multipulse lidar).
  • the measured time of arrival of the reflected light pulse from the partial measurements are sorted into a histogram with which after several (typically 10 ... 500) repetitions using appropriate signal processing (eg maximum search, center of gravity calculation, matched filter, etc.) Position of the received pulse and thus the time of flight or the distance to the object is determined.
  • a special feature of the proposed method is that the partial measurements are repeated not with a fixed but with a variable (for example, pseudo-noise modulated) frequency.
  • times of the pulse emissions are always known to the sensor, whereby a fixed time base is still ensured for the measurement, whereas the time base between the sensor and other interfering optical systems is resolved and thus a disturbing effect is eliminated.
  • FIG. 2 shows an adverse effect of the configuration of FIG. 1, with another interfering lidar sensor present in the measurement scenario. Due to the fixed pulse repetition rate of both lidar sensors, the interfering light pulses Est of the second lidar sensor are always accumulated at the same point in the histogram, for which reason the subsequent signal processing recognizes a decoupling target at this point. Thus, in the histogram due to the disturbing light pulses Est, object detection occurs, although in the measurement scenario no real object exists at this point. This problem can become significantly larger with increasing number of external sensors in the environment of the own sensor.
  • FIG. 3 shows a transmission scheme of optical transmission signals with pseudo-randomly coded pulse chains known from US 2010/0045965 A1.
  • Transmission energy is thus distributed in each case to all individual pulses within a partial measurement cycle tp, whereby a maximum range can be considerably limited.
  • Recognizable is a measuring cycle tM, which is subdivided into individual partial measuring cycles tp.
  • Fig. 3 shows a conventional sequence of pulse sequences, which are performed in several partial measurements.
  • a total measurement duration TM comprises a defined number of individual measurement cycles tp. It can be seen in FIG. 3 that within the partial measurements in each case five pulses are sent, each of which is the same Timing scheme have. In the case of a new overall measurement, the sequence of pulses in the partial measuring cycles tp can in turn be varied.
  • the lidar sensor operates with a variable pulse repetition frequency. Due to the fact that the measurement of the sensor is now started at different times in relation to a start of a partial measurement cycle tp, the disturbance measurement pulse Est received in the fixed grid is distributed in the histogram in different time slots, whereby advantageously no accumulation occurs. Since the sensor is always aware of the start times of the respective own measurements, the time correlation for the own measuring pulses still exists. For the target to be measured so there is still an accumulation in the histogram, which is why a correct object detection at the same time
  • Fig. 5 it can be seen that the proposed method provides that in the individual partial measuring cycles tp only a single pulse is sent, but this maximum possible energy. It can be seen that the individual pulses have approximately five times the amplitudes of those of the individual pulses in the conventional partial measuring cycles tp according to FIG. 3.
  • the beginning of the pulse varies according to mathematical principles, which is indicated by three different offset times ti, t 2 , t3 from the beginning of the respective partial measuring cycle tp.
  • the aforementioned offset times ti, t 2 , t3 are also known to the detector, so that now no disturbing influence of harmful opposing lidar sensors can occur because fictitious targets can not add up in a histogram. As a result, a random modulation of the pulse start times within the partial measurement cycles tp is thereby realized.
  • a pulse repetition frequency is preferably constant, with a pulse repetition frequency of approximately 700 kHz to approximately 800 kHz being set for distance measurements in the automotive sector with a range of approximately 200 m.
  • Fig. 6 shows a highly simplified block diagram of an embodiment of the
  • the device 100 for distance measurement of objects.
  • the device 100 comprises a control element 10 (time-of-flight controller) which comprises a driver element 20 for a radiation element 30 (eg light source in the visible range, laser, in particular in the form of a solid-state laser, a laser diode, eg a near IR Laser diode).
  • the radiating element 30 emits an optical transmission signal S in the form of optical pulses through a transmission lens 40 onto an object 200.
  • a random number generator 80 is provided which determines the transmission times ti ... t n of the transmission pulses within the partial measurement cycles tp pseudorandom or according to another suitable random principle determines and provides.
  • a part of the transmission signal S is fed to the control element 10, so that the control device 10 is always informed about the offset times ti ... t n .
  • Receiving signal E is fed via a receiving lens 60 to a detector element 70, wherein the detector element 70 is functionally connected to the control element 10.
  • Final signal processing is carried out by means of a signal processing device 90 which is functionally connected to the control element 10 and which is preferably as an optimum filter, a maximum search device or a center of gravity calculation device or another suitable element.
  • FIG. 7 shows a basic sequence of an embodiment of the proposed method for operating a device 100 for distance measurement.
  • a pulsed driving of an optical transmitting device is carried out by means of a random-generator device, wherein the optical transmitting device is controlled such that by means of the optical transmitting device per Operamesszyloses a pulse-shaped optical transmission signal is emitted, wherein in each part measuring cycle, a start time of the optical transmission signal is changed.
  • a step 210 reception of an optical reception signal is performed by means of an optical reception device.
  • a processing of the optical received signal is carried out by means of a signal processing device, wherein a distance to the object is determined from a transit time of the signals.
  • the proposed method can be as a software
  • the invention has been described above mainly with reference to a distance measuring device designed as a lidar sensor, it goes without saying that the method according to the invention is not bound to a specific type of optical radiation element and that the proposed method comprises a multiplicity of distance measuring devices Form of pulsed direct-time-of-flight sensors.

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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)

Abstract

Dispositif (100) de télémétrie comprenant : un dispositif émetteur optique (10, 20, 30, 40, 50) ; un dispositif récepteur optique (10, 60, 70) ; et un dispositif générateur d'impulsions aléatoires (80) qui est fonctionnellement relié au dispositif émetteur optique (10, 20, 30, 40, 50) et au dispositif récepteur optique (10, 60, 70) ; grâce au dispositif générateur d'impulsions aléatoires (80), le dispositif émetteur optique (10, 20, 30, 40, 50) peut est commandé de manière pulsée de façon telle que le dispositif émetteur optique (10, 20, 30, 40, 50) permette l'émission d'un signal d'émission optique (S) par cycle de mesure partielle (tp) ; dans chaque cycle de mesure partielle (tp), un temps de départ (t1...tn) du signal d'émission (S) peut être modifié à l'aide du dispositif générateur d'impulsions aléatoires (80).
PCT/EP2018/062641 2017-05-23 2018-05-16 Dispositif et procédé de télémesure WO2018215251A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017208704.8A DE102017208704A1 (de) 2017-05-23 2017-05-23 Vorrichtung und Verfahren zur Entfernungsmessung
DE102017208704.8 2017-05-23

Publications (1)

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WO2018215251A1 true WO2018215251A1 (fr) 2018-11-29

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WO (1) WO2018215251A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022160921A1 (fr) * 2021-01-29 2022-08-04 华为技术有限公司 Procédé et dispositif anti-interférence de lidar

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3683599B1 (fr) * 2019-01-16 2022-06-22 Ibeo Automotive Systems GmbH Procédé et dispositif de mesure de distance optique
DE102019215951A1 (de) * 2019-10-16 2021-04-22 Robert Bosch Gmbh Verfahren, Computerprogramm, elektronisches Speichermedium und Vorrichtung zum Auswerten von optischen Empfangssignalen
CA3097277A1 (fr) * 2019-10-28 2021-04-28 Ibeo Automotive Systems GmbH Methode et dispositif pour la mesure optique des distances

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004037137A1 (de) 2004-07-30 2006-03-23 Pmd Technologies Gmbh Verfahren und Vorrichtung zur Entfernungsmessung
EP1972961A2 (fr) * 2007-03-22 2008-09-24 Sick Ag Capteur optoélectronique et procédé de mesure de l'éloignement ou de la modification de l'éloignement
US20100045965A1 (en) 2008-08-19 2010-02-25 Rosemount Aerospace Inc. Lidar system using a pseudo-random pulse sequence
EP2694996B1 (fr) * 2011-04-07 2015-03-25 Riegl Laser Measurement Systems GmbH Procédé de mesure de la distance

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE50115661D1 (de) 2001-12-04 2010-11-25 Optosys Ag Fotoelektrischer Näherungsschalter
EP2730942B1 (fr) 2012-11-13 2015-03-18 Sick Ag Scanner optoélectronique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004037137A1 (de) 2004-07-30 2006-03-23 Pmd Technologies Gmbh Verfahren und Vorrichtung zur Entfernungsmessung
EP1972961A2 (fr) * 2007-03-22 2008-09-24 Sick Ag Capteur optoélectronique et procédé de mesure de l'éloignement ou de la modification de l'éloignement
US20100045965A1 (en) 2008-08-19 2010-02-25 Rosemount Aerospace Inc. Lidar system using a pseudo-random pulse sequence
EP2694996B1 (fr) * 2011-04-07 2015-03-25 Riegl Laser Measurement Systems GmbH Procédé de mesure de la distance

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022160921A1 (fr) * 2021-01-29 2022-08-04 华为技术有限公司 Procédé et dispositif anti-interférence de lidar

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Publication number Publication date
DE102017208704A1 (de) 2018-11-29

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