Laser measuring means for measuring a distance from an object, and method of operating same

Patent metadata

Field	Value
Publication number	US-11536835-B2
Application number	US-201916423868-A
Country	US
Kind code	B2
Filing date	May 28, 2019
Priority date	May 30, 2018
Publication date	Dec 27, 2022
Grant date	Dec 27, 2022

Abstract

A laser measuring set for measuring a distance from an object includes a pulse laser for emitting a laser pulse at the beginning of a measuring cycle; an optical sensor having at least one detection unit for generating detection signals; a coincidence recognition stage for generating coincidence signals, wherein during the measuring cycle, one of the coincidence signals is generated each time the detection signals generated by the detection unit reach at least a preset coincidence depth within a coincidence time; a coincidence time presetting stage for presetting the coincidence time for the coincidence recognition stage, the coincidence time presetting stage being configured such that the coincidence time monotonically increases during the measuring cycle; and travel-time measuring set for determining the distance on the basis of a travel-time measurement of the coincidence signals.

First claim

The invention claimed is:

1. Laser measuring device for measuring a distance from an object, comprising:
a pulse laser for emitting a laser pulse at the beginning of a measuring cycle;
an optical sensor comprising at least one detection unit for generating detection signals, the detection unit comprising at least one detector for detecting individual photons, the detection unit generating one of the detection signals, during the measuring cycle, each time one of the photons is detected by the detector;
a coincidence recognition stage for generating coincidence signals, wherein during the measuring cycle, one of the coincidence signals is generated each time the detection signals generated by the detection unit reach at least a preset coincidence depth within a coincidence time;
a coincidence time presetting stage for presetting the coincidence time for the coincidence recognition stage, the coincidence time presetting stage being configured such that the coincidence time monotonically increases during the measuring cycle; and
travel-time measuring device for determining the distance based on a travel-time measurement of the coincidence signals.

2. Laser measuring device as claimed in claim 1 , the laser measuring device comprising a background event rate determining stage for determining a background event rate of the detection signals, the coincidence time presetting stage being configured to preset the coincidence time based on the background event rate.

3. Laser measuring device as claimed in claim 1 , wherein the coincidence time presetting stage is configured to preset the coincidence time based on the preset coincidence depth.

4. Laser measuring device as claimed in claim 1 , the laser measuring device comprising a maximum value determining stage for determining a maximum value of a constant probability density function for the occurrence of a first coincidence signal of the coincidence signals when exclusively considering a background event rate of the detection signals at the preset coincidence depth, the coincidence time presetting stage being configured to preset the coincidence time based on the maximum value.

5. Laser measuring device as claimed in claim 1 , the laser measuring device comprising a background event rate determining stage for determining a background event rate of the detection signals, the laser measuring device comprising a coincidence depth presetting stage for presetting the coincidence depth for the coincidence recognition stage, and the coincidence depth presetting stage being configured to preset the coincidence depth based on the background event rate.

6. Laser measuring device as claimed in claim 5 , wherein the coincidence depth presetting stage is configured to determine signal/noise ratios of probability density functions for the occurrence of a first coincidence signal of the coincidence signals at different values for the coincidence depth, each of the different values having one of the signal/noise ratios determined for it; that value of the different values which is associated with a maximum signal/noise ratio of the signal/noise ratios is preset as the coincidence depth.

7. Laser measuring device as claimed in claim 5 , wherein the coincidence depth presetting stage is configured such that the coincidence depth is constant during the measuring cycle.

8. Laser measuring device as claimed in claim 1 , wherein the coincidence time presetting stage is configured such that the coincidence time strictly monotonically increases during the measuring cycle.

9. Laser measuring device as claimed in claim 1 , wherein the coincidence time presetting stage is configured such that the coincidence time is preset, during the measuring cycle, such that a probability density function for the occurrence of a first coincidence signal of the coincidence signals deviates by a maximum of 10% from a constant value during the measuring cycle when one exclusively considers a background event rate of the detection signals.

10. Laser measuring device as claimed in claim 1 , wherein the coincidence time presetting stage is configured such that the measuring cycle is subdivided into several partial measuring cycles, the coincidence time being determined at the beginning of one of the partial measuring cycles, respectively, and being held constant for the respective partial measuring cycle.

11. Laser measuring device as claimed in claim 1 , wherein the detection unit comprises a multitude of detectors for detecting individual photons, the detectors comprising mutually corresponding sensing areas, and the coincidence depth being preset not to be larger than a number of the detectors.

12. Laser measuring device as claimed in claim 1 , wherein the optical sensor comprises a multitude of detection units which comprise different sensing areas.

13. Laser measuring device as claimed in claim 1 , wherein the travel-time measuring device is configured such that the distance is determined on the basis of a travel-time measurement of the detection signals when the preset coincidence depth is one, and such that the distance is determined on the basis of the travel-time measurement of the coincidence signals when the preset coincidence depth is larger than one.

14. Method of operating a laser measuring device for measuring a distance from an object, the method comprising:
emitting a laser pulse at the beginning of a measuring cycle by means of a pulse laser;
generating detection signals by means of at least one detection unit of an optical sensor, the detection unit comprising at least one detector for detecting individual photons, wherein during the measuring cycle, one of the detection signals is generated by the detection unit each time one of the photons is detected by the detector;
generating coincidence signals by means of a coincidence recognition stage, wherein during the measuring cycle, one of the coincidence signals is generated each time the detection signals generated by the detection unit reach at least a preset coincidence depth within a coincidence time;
presetting the coincidence time for the coincidence recognition stage by a coincidence time presetting stage, the coincidence time being preset such that the coincidence time monotonically increases during the measuring cycle; and
determining the distance by means of a travel-time measuring device on the basis of a travel-time measurement of the coincidence signals.

15. A non-transitory digital storage medium having a computer program stored thereon to perform the method of operating a laser measuring device for measuring a distance from an object, said method comprising:
emitting a laser pulse at the beginning of a measuring cycle by means of a pulse laser;
generating detection signals by means of at least one detection unit of an optical sensor, the detection unit comprising at least one detector for detecting individual photons, wherein during the measuring cycle, one of the detection signals is generated by the detection unit each time one of the photons is detected by the detector;
generating coincidence signals by means of a coincidence recognition stage, wherein during the measuring cycle, one of the coincidence signals is generated each time the detection signals generated by the detection unit reach at least a preset coincidence depth within a coincidence time;
presetting the coincidence time for the coincidence recognition stage by a coincidence time presetting stage, the coincidence time being preset such that the coincidence time monotonically increases during the measuring cycle; and
determining the distance by means of a travel-time measur

Assignees

• Fraunhofer Ges Forschung

Inventors

• Beer Maik
• Schrey Olaf
• Brockherde Werner
• Hosticka Bedrich

Classifications

• G01S7/487 Primary

  Extracting wanted echo signals {, e.g. pulse detection} · CPC title

• G01S17/10 Primary

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/4865

  Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak (peak detection in noise, signal conditioning G01S7/487) · CPC title