DE4303804A1 - Device for distance measurement (range finding) - Google Patents

Device for distance measurement (range finding)

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Publication number
DE4303804A1
DE4303804A1 DE4303804A DE4303804A DE4303804A1 DE 4303804 A1 DE4303804 A1 DE 4303804A1 DE 4303804 A DE4303804 A DE 4303804A DE 4303804 A DE4303804 A DE 4303804A DE 4303804 A1 DE4303804 A1 DE 4303804A1
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Germany
Prior art keywords
light beam
transmitted light
modulation frequencies
distance
modulation
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Granted
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DE4303804A
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German (de)
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DE4303804C2 (en
Inventor
Walter Dr Rer Nat Hermann
Georg Dipl Ing Moll
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Leuze Electronic GmbH and Co KG
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Leuze Electronic GmbH and Co KG
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Priority to DE19934303804 priority Critical patent/DE4303804C2/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
    • G01S17/02—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

Abstract

In the case of known devices of this type, the distance measurement is carried out by means of the phase measurement principle using an optical sensor system. The transmitted light beam which is emitted by a laser is in this case amplitude modulated at two different modulation frequencies. It is disadvantageous in this case that the transmitted light intensity and thus the signal to noise ratio are greatly reduced by impressing two modulation frequencies onto the transmitted light beam. In the case of the device 1 according to the invention, the modulation of the transmitted light beam 4 with the modulation frequencies is carried out separately in time. An object is measured by the transmitted light beams 4, which are modulated at the two modulation frequencies, successively. The two measurements (measured values) are compared in an evaluation unit 14 in order to determine the distance of the object from the device 1. <IMAGE>

Description

Die Erfindung betrifft eine Einrichtung zur Entfernungsmessung mit einem Sen­ delicht emittierenden Laser, dessen Sendelichtstrahl mit zwei vorgegebenen Mo­ dulationsfrequenzen amplitudenmoduliert ist, sowie mit einem Empfänger und einem Phasendetektor zur Ermittlung der Phasendifferenz des Sendelichtstrahls und des von einem Objekt reflektierten Empfangslichtstrahls.The invention relates to a device for distance measurement with a Sen delichtemitting laser, the transmitted light beam with two predetermined Mo Dulation frequencies is amplitude modulated, as well as with a receiver and a phase detector for determining the phase difference of the transmitted light beam and the received light beam reflected from an object.

Eine Einrichtung dieser Art ist aus der DE-PS 40 27 990 bekannt. Zur Bestim­ mung der Distanz eines Objekts zur Einrichtung wird der Phasenwinkel zwi­ schen dem Sendelichtstrahl und dem vom Objekt reflektierten Empfangslicht­ strahl ausgewertet. Innerhalb des Winkelbereichs zwischen 0° und 360° ist der Phasenwinkel proportional zur Entfernung des Objekts von der Einrichtung. So­ bald dieser Winkelbereich überschritten wird, können die Phasenwinkel nicht mehr eindeutig einem Entfernungswert zugeordnet werden. Bei der Verwendung einer Modulationsfrequenz zur Modulation des Sendelichtstrahls ist der Meßbe­ reich demnach auf den Bereich einer Wellenlänge der Modulationsfrequenz be­ schränkt.A device of this type is known from DE-PS 40 27 990. For determination Measurement of the distance of an object to the device, the phase angle between between the transmitted light beam and the received light reflected from the object beam evaluated. The is within the angular range between 0 ° and 360 ° Phase angle proportional to the distance of the object from the device. Like this As soon as this angular range is exceeded, the phase angles cannot can be more clearly assigned to a distance value. When using a modulation frequency for modulating the transmitted light beam is the measuring be accordingly be in the range of a wavelength of the modulation frequency limits.

Zur Erweiterung des Meßbereichs der Einrichtung wird der mit einer Modula­ tionsfrequenz modulierte Sendelichtstrahl für die Dauer einer bestimmten An­ zahl von Perioden unterbrochen.To expand the measuring range of the device, the one with a modula tion frequency modulated transmission light beam for the duration of a certain An number of periods interrupted.

Nachteilig hierbei ist, daß durch das Aufprägen der zweiten Modulationsfre­ quenz die über die Dauer der beiden Intervalle gemittelte Sendelichtintensität re­ duziert wird. Dies führt insbesondere bei schnellen Meßvorgängen, bei denen der Sendelichtstrahl nur über wenige Perioden der Modulationsfrequenz ausge­ wertet werden kann, zu einer erheblichen Verminderung des Signal/Rauschver­ hältnisses. Dies kann dazu führen, daß insbesondere Objekte, deren Oberflächen das Sendelicht zur zu einem geringen Anteil reflektieren, nicht mehr vermessen werden können.The disadvantage here is that by impressing the second modulation fre quenz the transmitted light intensity averaged over the duration of the two intervals is induced. This leads particularly in the case of fast measuring processes in which the transmitted light beam is emitted only over a few periods of the modulation frequency can be evaluated, to a significant reduction in the signal / noise ratio. This can lead, in particular, to objects whose surfaces reflect the emitted light to a small extent, no longer measure it can be.

Der Erfindung liegt die Aufgabe zugrunde, eine Meßbereichserweiterung der Phasenmessung zu erzielen, die eine möglichst hohe Meßempfindlichkeit gewährleistet.The invention has for its object to extend the measuring range To achieve phase measurement that ensures the highest possible sensitivity.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß die Modulationen mit den jeweiligen Modulationsfrequenzen in vorgegebenen Intervallen zeitlich getrennt erfolgen, und daß zur Ermittlung der Distanz eines Objektes zur Ein­ richtung das Objekt mit beiden Modulationsfrequenzen vermessen wird.This object is achieved in that the modulations with the respective modulation frequencies at given intervals done separately, and that to determine the distance of an object to the direction the object is measured with both modulation frequencies.

Dabei werden vorzugsweise die mit den unterschiedlichen Modulationsfrequen­ zen ermittelten Entfernungswerte für ein Objekt in einer Auswerteeinheit mit­ einander verglichen.In this case, those with the different modulation frequencies are preferred distance values determined for an object in an evaluation unit compared to each other.

Der Vorteil dieser Einrichtung besteht darin, daß der Sendelichtstrahl jeweils nur mit einer Modulationsfrequenz moduliert ist und somit die hohe Signalam­ plitude in beiden Intervallen gleichbleibend hoch ist. Das Signal/Rauschverhält­ nis ist dadurch gegenüber einem mit zwei Modulationsfrequenzen modulierten Sendelichtstrahl verbessert.The advantage of this device is that the transmitted light beam in each case is only modulated with a modulation frequency and thus the high signal am plitude is consistently high in both intervals. The signal / noise ratio nis is therefore modulated compared to one with two modulation frequencies Transmitted light beam improved.

Jedes Meßobjekt wird zur Bestimmung der Entfernung zur Vorrichtung nachein­ ander mit beiden Modulationsfrequenzen vermessen. Damit der Entfernungswert korrekt ermittelt wird, darf sich die Position des Objekts zur Vorrichtung wäh­ rend der beiden Einzelmessungen nicht wesentlich ändern. Hierzu ist die Fol­ gefrequenz der Intervalle vorzugsweise wesentlich größer als die Folgefrequenz verschiedener Distanzen von Objekten zur Einrichtung. Je nach Anwendungsfall können die Größen der Intervalle an die maximalen Geschwindigkeiten der Ob­ jekte angepaßt sein.Each measurement object is successively used to determine the distance to the device other measured with both modulation frequencies. So the distance value is correctly determined, the position of the object relative to the device may be selected Do not change significantly between the two individual measurements. The fol frequency of the intervals is preferably much greater than the repetition frequency different distances from objects to setup. Depending on the application can the sizes of the intervals to the maximum speeds of the Ob be adapted.

Bei der Verwendung einer Modulationsfrequenz zur Modulation des Sendelicht­ strahls ist der Meßbereich auf eine Wellenlänge begrenzt. Eine Vermessung weiter entfernt angeordneter Meßobjekte ist prinzipiell nicht möglich, da sich die Entfernungssignale mit der Periode der Modulationsfrequenz identisch wie­ derholen.When using a modulation frequency to modulate the transmitted light the measuring range is limited to one wavelength. A survey In principle, objects located further away are not possible because the distance signals are identical to the period of the modulation frequency  derholen.

Durch die Verwendung zweier Modulationsfrequenzen kann der Meßbereich auf das kleinste gemeinsame Vielfache der beiden Wellenlängen erhöht werden. In diesem Meßbereich wird für jede Entfernung ein eindeutiges Entfernungssignal erhalten.The measuring range can be increased by using two modulation frequencies the smallest common multiple of the two wavelengths can be increased. In this measuring range becomes a unique distance signal for each distance receive.

Bei der erfindungsgemäßen Einrichtung ergibt sich die Eindeutigkeit des Entfer­ nungssignals durch den Vergleich der einzelnen Signale, die mit dem jeweils mit einer Modulationsfrequenz modulierten Sendelichtstrahl erhalten werden.The uniqueness of the distance is obtained in the device according to the invention voltage signal by comparing the individual signals with each transmission light beam modulated with a modulation frequency can be obtained.

Vorteilhafterweise sind die Beträge der Modulationsfrequenzen teilerfremde Zahlen gleicher Größenordnung. Auf diese Weise wird der Meßbereich beson­ ders stark erweitert.The amounts of the modulation frequencies are advantageously non-prime Numbers of the same order of magnitude. In this way, the measuring range is special greatly expanded.

Die erfindungsgemäße Einrichtung kann vorzugsweise zur Ortung von Hinder­ nissen eingesetzt werden. Hierzu ist zweckmäßigerweise der Einrichtung zur Entfernungsmessung eine Ablenkvorrichtung vorgeschaltet, die den Sendelicht­ strahl entlang einer Bahn über einen vorgegebenen Raumbereich führt. Um eine kontinuierliche Ortung zu gewährleisten, wird zweckmäßigerweise die Ablen­ kung des Sendelichtstrahls periodisch wiederholt. Dabei wird für aufeinanderfol­ gendende Ablenkungen abwechslungsweise jeweils eine der beiden Modula­ tionsfrequenzen zur Modulation des Sendelichtstrahls verwendet. Vorzugsweise ist die Geschwindigkeit der Ablenkvorrichtung so groß gewählt, daß die Posi­ tion eines Objekts während zwei aufeinanderfolgender Ablenkungen im wesent­ lichen unverändert ist.The device according to the invention can preferably be used for locating obstacles nits are used. For this purpose, the facility for Distance measurement upstream of a deflecting device, the transmitting light beam along a path over a given area. To one To ensure continuous location, the Ablen Kung the transmitted light beam is repeated periodically. It is for successive Deflections alternately one of the two modules tion frequencies used to modulate the transmitted light beam. Preferably the speed of the deflection device is chosen so large that the posi tion of an object during two successive distractions is unchanged.

Weitere zweckmäßige Ausgestaltungen der Erfindung sind in den Unteransprü­ chen 5 und 6 charakterisiert.Further expedient embodiments of the invention are in the subclaims Chen 5 and 6 characterized.

Die Erfindung wird im nachstehenden anhand der Zeichnungen erläutert. Es zeigen: The invention is explained below with reference to the drawings. It demonstrate:  

Fig. 1 Ein Blockschaltbild der erfindungsgemäßen Einrichtung, Fig. 1 is a block diagram of the device according to the invention,

Fig. 2 eine schematische Darstellung der mit jeweils einer Modulations­ frequenz ermittelten Entfernungswerte, Fig. 2 is a schematic representation of the modulation frequency, each with a determined distance values,

Fig. 3 ein Blockschaltbild der Schaltvorrichtung zum Umschalten der Modulationsfrequenzen. Fig. 3 is a block diagram of the switching device for switching the modulation frequencies.

In Fig. 1 ist die Einrichtung 1 zur Entfernungsmessung schematisch dargestellt. Die Einrichtung 1 ist als optisches Sensorsystem ausgebildet, wobei als Sender 2 ein modulierter Dauerstrich-Laser verwendet wird. Als Empfänger 3 kann vor­ zugsweise eine Fotodiode verwendet werden.In Fig. 1, the device 1 for distance measurement is shown schematically. The device 1 is designed as an optical sensor system, a modulated continuous wave laser being used as the transmitter 2 . A photodiode can preferably be used as the receiver 3 .

Die Entfernungsmessung erfolgt mit Hilfe der Phasenmessung. Hierzu wird der Sendelichtstrahl 4 über einen Oszillator 5 bzw. 6 mit der Frequenz f1 bzw. f2 amplitudenmoduliert. Zur Bestimmung der Entfernung eines in den Zeichnungen nicht dargestellten Objekts zur Einrichtung 1 wird die Phasendifferenz zwischen dem Sendelichtstrahl 4 und dem vom Objekt reflektierten Empfangslichtstrahl 7 gemessen und in einen Entfernungswert X1 bzw. X2 umgerechnet.The distance measurement is carried out with the help of the phase measurement. For this purpose, the transmitted light beam 4 is amplitude-modulated via an oscillator 5 or 6 with the frequency f 1 or f 2 . To determine the distance of an object (not shown in the drawings) to the device 1 , the phase difference between the transmitted light beam 4 and the received light beam 7 reflected by the object is measured and converted into a distance value X 1 or X 2 .

Dem Empfänger 3 ist ein Phasendetektor 8 nachgeschaltet. Dort wird das von dem Oszillator 5 bzw. 6 zum Sender 2 geführten Sendesignal und das am Aus­ gang des Empfängers 3 anstehende Empfangssignal in Signale umgesetzt, die die Phasendifferenz zwischen Sendesignal und Empfangssignal enthalten.A phase detector 8 is connected downstream of the receiver 3 . There, the transmitted signal from the oscillator 5 or 6 to the transmitter 2 and the signal pending at the output of the receiver 3 are converted into signals which contain the phase difference between the transmitted signal and the received signal.

Die Signale enthalten einen Faktor, der die Phasendifferenz enthält, sowie einen Amplitudenfaktor, der ein Maß für die Empfangslichtintensität ist.The signals contain a factor that contains the phase difference and one Amplitude factor, which is a measure of the received light intensity.

Zur Elimination der Amplitudenfaktoren wird das Empfangssignal den phasen­ empfindlichen Gleichrichtern 10, 11 mit jeweils einem nachgeschalteten Tiefpaß 12, 13 zugeführt, wobei die Gleichrichter 10, 11 über einen Phasenschieber 9 um π/2 phasenversetzt sind. To eliminate the amplitude factors, the received signal is fed to the phase-sensitive rectifiers 10 , 11 , each with a downstream low-pass filter 12 , 13 , the rectifiers 10 , 11 being phase-shifted by π / 2 via a phase shifter 9 .

An den Ausgängen der Tiefpässe 12, 13 liegen Signale der Form A sin Δϕ und A cos Δϕ an, wobei A den Amplitudenfaktor und Δϕ die Phasendifferenz von Sende- und Empfangssignal darstellt. In der Auswerteeinheit 14 wird der Quo­ tient tan Δϕ der beiden Signale gebildet, wodurch der Amplitudenfaktor A eli­ miniert wird.Signals of the form A sin Δϕ and A cos Δϕ are present at the outputs of the low-pass filters 12 , 13 , where A represents the amplitude factor and Δϕ the phase difference between the transmit and receive signals. The quotient tan Δϕ of the two signals is formed in the evaluation unit 14 , as a result of which the amplitude factor A is eliminated.

Über die Schaltvorrichtung 15 wird jeweils einer der beiden Oszillatoren 5 oder 6 aktiviert, so daß der Sendelichtstrahl 4 entweder mit der Frequenz f1 oder f2 moduliert ist.One of the two oscillators 5 or 6 is activated via the switching device 15 , so that the transmitted light beam 4 is modulated either with the frequency f 1 or f 2 .

Fig. 2 zeigt die im Bereich von 0-2 π zur Phasendifferenz Δ (proportionalen Entfernungswerte X1 und X2, die mit einem mit der Frequenz f1 bzw. f2 modu­ lierten Sendelichtstrahl 4 für ein Objekt ermittelt wurden. Die Entfernungswerte X1 und X2 weisen jeweils die den Frequenzen f1 und f2 entsprechenden Periodi­ zitäten auf. Die Wiederholrate beim Umschalten der Modulationsfrequenzen ist dabei so groß gewählt, daß sich die Entfernung des Objekts zur Einrichtung 1 zwischen zwei Umschaltungen nicht wesentlich ändert. Demzufolge können zwei mit unterschiedlichen Modulationsfrequenzen ermittelte Entfernungswerte X1 und X2 zur Ermittlung der Distanz des Objekts von der Einrichtung 1 heran­ gezogen werden. Da die Entfernungswerte proportional zur Phasendifferenz Δϕ sind, ergibt sich durch den Vergleich der Entfernungswerte X1 und X2 ein ein­ deutiger Distanzwert in einem Meßbereich, der durch das kleinste gemeinsame Vielfache der Wellenlängen der beiden Modulationsfrequenzen gegeben ist. Fig. 2 shows the in the range of 0-2 π to the phase difference Δ (proportional distance values X 1 and X 2, which were determined with the frequency f 1 and f 2 modu profiled transmitted light beam 4 for an object. Distance values X 1 and X 2 each have the periodicity corresponding to the frequencies f 1 and f 2. The repetition rate when switching the modulation frequencies is chosen so large that the distance of the object to the device 1 does not change significantly between two switches Distance values X 1 and X 2 determined at different modulation frequencies are used to determine the distance of the object from the device 1. Since the distance values are proportional to the phase difference Δϕ, a comparison of the distance values X 1 and X 2 results in a clear distance value in one Measuring range by the smallest common multiple of the wavelengths of the two modulation frequencies en is given.

Fig. 3 zeigt eine zweckmäßige Ausgestaltung der Schaltvorrichtung 15. Die Schaltvorrichtung 15 besteht im wesentlichen aus vier NOR-Gattern 16, 17, 18, 19. Die Gatter 16, 18 sind mit den Oszillatoren 5 und 6 für die Frequenzen f1 und f2 verknüpft. Über den Anschluß "Frequenzwahl" und das Gatter 17 erfolgt die Auswahl einer der Frequenzen f1 oder f2 zur Modulation des Sendelicht­ strahls 4. Fig. 3 shows a practical embodiment of the switching device 15. The switching device 15 essentially consists of four NOR gates 16 , 17 , 18 , 19 . The gates 16 , 18 are linked to the oscillators 5 and 6 for the frequencies f 1 and f 2 . Via the connection "frequency selection" and the gate 17 , one of the frequencies f 1 or f 2 is selected for modulating the transmitted light beam 4 .

Liegt am Anschluß "Frequenzwahl" der Bitwert 0 an, so liegt am Ausgang des Gatters 18 der Bitwert 0, so daß am Ausgang des Gatters 19 die Frequenz f1 an­ steht. Zur Aktivierung der Frequenz f2 wird der Anschluß "Frequenzwahl" auf den Bitwert 1 gesetzt. Dementsprechend liegt am Ausgängen der Gatter 16 der Bitwerte 0 an.Is at the terminal "DTMF" the bit value is 0, is present at the output of the gate 18 the bit value 0, so that at the output of the gate 19, the frequency f 1 is on. To activate the frequency f 2 , the "frequency selection" connection is set to bit value 1 . Accordingly, bit values 0 are present at the outputs of gates 16 .

Claims (7)

1. Einrichtung zur Entfernungsmessung mit einem Sendelicht emittierenden La­ ser, dessen Sendelichtstrahl mit zwei vorgegebenen Modulationsfrequenzen amplitudenmoduliert ist, sowie mit einem Empfänger und einem Phasende­ tektor zur Ermittlung der Phasendifferenz des Sendelichtstrahls und des von einem Objekt reflektierten Empfangslichtstrahls, dadurch gekennzeichnet, daß die Modulationen mit den jeweiligen Modulationsfrequenzen in vorgege­ benen Intervallen zeitlich getrennt erfolgen, und daß zur Ermittlung der Distanz eines Objekts zur Einrichtung (1) das Objekt mit beiden Modula­ tionsfrequenzen vermessen wird.1.Device for distance measurement with a transmitting light-emitting laser, the transmitted light beam is amplitude-modulated with two predetermined modulation frequencies, and with a receiver and a phase detector for determining the phase difference of the transmitted light beam and the received light beam reflected by an object, characterized in that the modulations with the respective modulation frequencies occur at predetermined intervals, and that the object is measured with both modulation frequencies to determine the distance of an object to the device ( 1 ). 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die mit unter­ schiedlichen Modulationsfrequenzen ermittelten Entfernungswerte für ein Objekt in einer Auswerteeinheit 14 miteinander verglichen werden.2. Device according to claim 1, characterized in that the under different modulation frequencies determined distance values for a Object can be compared with each other in an evaluation unit 14. 3. Einrichtung Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Fol­ gefrequenz der Intervalle größer ist als die Folgefrequenz verschiedener Distanzen von Objekten zur Einrichtung (1).3. Device according to claim 1 or 2, characterized in that the sequence frequency of the intervals is greater than the sequence frequency of different distances from objects to the device ( 1 ). 4. Einrichtung nach einem der Ansprüche 1-3, dadurch gekennzeichnet, daß die Beträge der Modulationsfrequenzen teilerfremde Zahlen gleicher Größen­ ordnung sind.4. Device according to one of claims 1-3, characterized in that the amounts of the modulation frequencies are alien numbers of the same sizes are okay. 5. Einrichtung nach einem der Ansprüche 1-4, dadurch gekennzeichnet, daß zwei Oszillatoren (5, 6) zur Erzeugung der Modulationsfrequenzen abwech­ selnd über eine Schaltvorrichtung (15) aktivierbar sind.5. Device according to one of claims 1-4, characterized in that two oscillators ( 5 , 6 ) for generating the modulation frequencies can be alternately activated via a switching device ( 15 ). 6. Einrichtung nach einen der Ansprüche 1-5, dadurch gekennzeichnet, daß der Phasendetektor (9) aus zwei phasenempfindlichen Gleichrichtern (10, 11) besteht, von denen jeweils einer um 0° und 90° phasenversetzt zur Modula­ tionsfrequenz des Lasers angesteuert wird.6. Device according to one of claims 1-5, characterized in that the phase detector ( 9 ) consists of two phase-sensitive rectifiers ( 10 , 11 ), one of which is each phase-shifted by 0 ° and 90 ° to the modulation frequency of the laser. 7. Verfahren zur Ortung von Hindernissen, dadurch gekennzeichnet, daß der Einrichtung (1) zur Entfernungsmessung eine Ablenkvorrichtung vorgeschal­ tet ist, die den Sendelichtstrahl (4) entlang einer Bahn über einen vorgegebe­ nen Raumbereich führt, wobei die Ablenkung des Sendelichtstrahls (4) periodisch wiederholt wird, und wobei für aufeinanderfolgende Ablenkungen abwechslungsweise jeweils eine der beiden Modulationsfrequenzen zur Modulation des Sendelichtstrahls (4) verwendet wird.7. A method for locating obstacles, characterized in that the device ( 1 ) for distance measurement, a deflection device is pre-switched, which guides the transmitted light beam ( 4 ) along a path over a predetermined spatial area, the deflection of the transmitted light beam ( 4 ) periodically is repeated, and one of the two modulation frequencies for modulating the transmitted light beam ( 4 ) is used alternately for successive deflections.
DE19934303804 1993-02-10 1993-02-10 Distance measuring device Expired - Fee Related DE4303804C2 (en)

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