초록 ▼

The present invention is directed to a system and method for taking up an object space using a laser range finder and a scanning device for scanning the object space. Furthermore, there is a passive opto-electronic receiver having an associated scanning device. The scanning device(s) scans the obje

The present invention is directed to a system and method for taking up an object space using a laser range finder and a scanning device for scanning the object space. Furthermore, there is a passive opto-electronic receiver having an associated scanning device. The scanning device(s) scans the object space for the range finder and the passive receiver synchronously and in phase. To each image element, a spatial angle is assigned for identification. The passive receiver, comprises an array of transducer, elements where the image angle of an individual element of the array corresponds preferably to the beam angle of the laser beam. A memory includes one cell per image element so that with each distance measurement the individual elements of the array can be read and their signals stored in the cells of the memory. With each distance measurement the assignment of the elements of the array to the cells of the memory is shifted by one so that the cell which had received the signals of a certain image element receives them anew and the signals received from different spatial angles add up in the cells during subsequent measurements.

대표청구항 ▼

What is claimed is: 1. An apparatus for taking up an object space using an opto-electronic range finder, which measures data of individual distances according to a time-of-flight of signal, the apparatus comprising: transmitter means for transmitting optical transmitter signals as a beam at a prede

What is claimed is: 1. An apparatus for taking up an object space using an opto-electronic range finder, which measures data of individual distances according to a time-of-flight of signal, the apparatus comprising: transmitter means for transmitting optical transmitter signals as a beam at a predetermined beam angle along an optical axis; and first receiver means having an optical axis for receiving optical signals reflected from an object situated in said object space after a time-of flight of said transmitter signals and said reflected signals, which have a certain time relationship; evaluating means comparing said transmitter signals and said reflected signals to determine range values from at least one of said time-of-flight and said time relationship; second receiver means for receiving electromagnetic radiation to form an image from data of individual image elements, said second receiver means including a predetermined number of transducers as an array to form received signals corresponding to said image elements, and having a predetermined image angle, and including optical means defining an optical axis which adapts said image angle to said beam angle of said transmitter means such that the image angle of an individual transducer of said array corresponds substantially to said beam angle of said transmitter means; scanning means for deviating a direction of said optical axes of said transmitter means and of said first and second receiver means in two directions and by a certain deviation angle per individual distance measurement to ensure that directions of the optical axes of said first and second receiver means coincide and scan said object space synchronously and in phase; wherein said second receiver means and said scanning means cooperate to enable determining individual image elements from said image and assigning a spatial angle to each image element, and said array is oriented in correspondence with said two directions of said scanning means; memory means having a plurality of cells, said plurality of cells assigned each to one of said image elements so that said individual transducers of said array can be read and their received signals can each be stored in a cell of said memory means simultaneously with each one of said individual distance measurements; an arrangement of said array and said cells of said memory means being such that with each individual distance measurement an assignment of said image elements of said array to said cells of said memory means is shifted by one such that signal received from each respective spatial angle are added up in said individual cells during subsequent measurements. 2. Apparatus as claimed in claim 1, wherein said optical transmitter signals are laser signals. 3. Apparatus as claimed in claim 1, wherein said electromagnetic radiation received by said second receiver means is in a visible range. 4. Apparatus as claimed in claim 1, wherein said deviation angle corresponds to one of said transducers of said second receiver means. 5. Apparatus as claimed in claim 1, wherein said scanning means comprise at least one prism having a plurality of mirror surfaces arranged around an axis of rotation, and drive means for rotating said prism about said axis of rotation. 6. Apparatus as claimed in claim 5, wherein said prism has at least four mirror surfaces. 7. Apparatus as claimed in claim 1, wherein said scanning means comprise a scanner device common to said second receiver, said transmitter means and said first receiver, and comprising optical beam splitting means for splitting off said optical signals reflected from an object, and said electromagnetic radiation. 8. Apparatus as claimed in claim 5, wherein said scanning means comprise a prism having at least four mirror surfaces arranged around an axis of rotation, and drive means for rotating said prism about said axis of rotation, said optical axes being each deviated by different mirror surfaces of said prism. 9. Apparatus as claimed in claim 8, wherein said different mirror surfaces are adjacent each other to form an integral mirror surface. 10. Apparatus as claimed in claim 1, comprising means for changing an assignment of said cells of said memory means to said transducers of said array to avoid a parallax. 11. Apparatus as claimed in claim 1, comprising means for shifting said reflected signals relative to said received signals as a function of said range values determined by said evaluating means to avoid a parallax. 12. Apparatus as claimed in claim 11, comprising means for finishing at least part of said data after first processing, said finishing means comprising said shifting means. 13. Apparatus as claimed in claim 1, wherein said array is linear. 14. Apparatus as claimed in claim 1, wherein said array is two-dimensional and comprises at least two lines of transducers. 15. Apparatus as claimed in claim 14, comprising means for shifting signals stored in the transducers of one line into those of an adjacent line to add shifted signals to signals contained in said adjacent line. 16. Apparatus as claimed in claim 1, comprising addressing means for shifting an assignment of said image elements of said array to said cells of said memory means.