Abstract
The present invention relates to a method for measuring the distance of targets in the surroundings by way of a time-of-flight measurement of pulses, in particular laser pulses, reflected at said targets, said pulses each being successively emitted at a transmission time in accordance with a predeterminable pulse repetition rate and said pulses, after the reflection thereof, each being received at a reception time, said method comprising the following steps: selecting a first pulse repetition rate from a set of at least two different pulse repetition rates and predetermining the selected pulse repetition rate for the emission, ascertaining a transmission time lying closest in time to the reception time of a reflected pulse and a time interval between these, and, if the ascertained time interval drops below a predetermined first threshold, selecting a second pulse repetition rate from the set and predetermining the second pulse repetition rate for the emission.
Claims
1. A method for measuring the distance of a target by way of time-of-flight measurements on pulses reflected at said targets, said pulses being successively emitted in accordance with a predeterminable pulse repetition rate, each pulse being emitted at a transmission time and after reflection at said target, being received at a reception time, comprising: selecting a first pulse repetition rate from a set of at least two different pulse repetition rates and predetermining the selected first pulse repetition rate as pulse repetition rate for the emission of the pulse; for at least one of the reception times, ascertaining a transmission time lying closest in time to said reception time, and ascertaining a time interval between said reception time and the ascertained transmission time; and, if the ascertained time interval is below a first threshold, selecting a second pulse repetition rate from the set and predetermining the selected second pulse repetition rate as the pulse repetition rate for the emission of the pulses; wherein a reciprocal value of a greatest pulse repetition rate from the set and a reciprocal value of a smallest pulse repetition rate from the set differ from one another by at least twice the first threshold.
2. The method according to claim 1, wherein, if the ascertained transmission time lies before reception time, a next-greatest pulse repetition rate or, if there is no such pulse repetition rate, a smallest pulse repetition rate from the set is selected as said second pulse repetition rate, and, if the ascertained transmission time lies after said reception time, a next-smallest pulse repetition rate or, if there is no such pulse repetition rate, a largest pulse repetition rate from the set is selected as said second pulse repetition rate.
3. The method according to claim 2, wherein, if the ascertained time interval exceeds a second threshold which is greater than the first threshold, a next-greatest or greatest pulse repetition rate from the set is selected as said second pulse repetition rate.
4. The method according to claim 1, wherein, if the ascertained time interval exceeds a second threshold, which is greater than the first threshold, a next-greatest or greatest pulse repetition rate from the set is selected as said second pulse repetition rate.
5. The method according to claim 1, wherein the pulses are laser pulses.
6. A method for measuring the distance of a target by way of time-of-flight measurements on pulses reflected at said target, said pulses being successively emitted in accordance with a predeterminable pulse repetition rate, each pulse being emitted at a transmission time and after reflection at said target, being received at a reception time, comprising: selecting a first pulse repetition rate from a set of at least two different pulse repetition rates and predetermining the selected first pulse repetition rate as pulse repetition rate for the emission of the pulse; for at least one of the reception times, ascertaining a transmission time lying closest in time to said reception time, and ascertaining a time interval between said reception time and the ascertained transmission time; and, if the ascertained time interval is below a first threshold, selecting a second pulse repetition rate from the set and predetermining the selected second pulse repetition rate as the pulse repetition rate for the emission of the pulses; wherein, if the ascertained time interval exceeds a second threshold, which is greater than the first threshold, a next-greatest or greatest pulse repetition rate from the set is selected as said second pulse repetition rate.
7. The method according to claim 6, wherein, if the ascertained transmission time lies before reception time, a next-greatest pulse repetition rate or, if there is no such pulse repetition rate, a smallest pulse repetition rate from the set is selected as said second pulse repetition rate, and, if the ascertained transmission time lies after said reception time, a next-smallest pulse repetition rate or, if there is no such pulse repetition rate, a largest pulse repetition rate from the set is selected as said second pulse repetition rate.
8. The method according to claim 6, wherein the pulses are laser pulses.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) The invention will be explained hereinafter in greater detail on the basis of exemplary embodiments depicted in the accompanying drawings, in which:
(2) FIG. 1 shows a schematic example of the pulse time-of-flight distance measurement of a topography by means of an air-borne laser scanner according to the prior art;
(3) FIG. 2 shows exemplary time graphs of transmitted and received pulses for different steps and variants of the method of the invention;
(4) FIG. 3 shows exemplary variants of an application of the method according to the invention of FIG. 2 to the situation of FIG. 1 with an associated graph of pulse repetition rates over the scanning angle or time; and
(5) FIGS. 4a to 4h show different variants of the method of FIGS. 2 and 3 in graphs of pulse repetition rates over the scanning angle or time.
DETAILED DESCRIPTION
(6) According to the example of FIG. 1, a pulsed laser measurement beam 2 is guided in a sweeping manner from an airborne laser scanner 1, for example in rows in a fan-shaped manner over a topography V, for example a mountain, with individual targets in the surroundings (scanning points) U.sub.1, U.sub.2, . . . , generally U. The target distances D.sub.1, D.sub.2, . . . , generally D, from the individual targets U in the surroundings are determined from time-of-flight measurements at the individual emitted pulses S.sub.1, S.sub.2, . . . , generally S, which are retrieved after the reflection at the surroundings as received pulses E.sub.1, E.sub.2, . . . , generally E.
(7) The laser scanner 1 works with a very high pulse repetition rate (PRR) and determines the target distances D of a number of targets U in the surroundings in quick succession, whereby a high time and/or spatial resolution is made possible with short overall measurement time. If a target U, for example U.sub.1, in the surroundings is distanced further from the laser scanner 1 than corresponds to the quotient of light speed c and twice the pulse repetition rate PRR, the next transmitted pulse S is thus already emitted before the reflection E of the last transmitted pulse S has been received. Here, the incoming received pulses E can no longer be clearly assigned to their corresponding transmitted pulse S. This is known as a multiple time around (MTA) or multiple pulses in the air problem. In the example of FIG. 1 five clearly measurable distance ranges, also referred to as MTA zones, Z.sub.1, Z.sub.2, . . . , Z.sub.5, generally Z, are formed in this way, the width thereof being, in each case, d.sub.max=c/(2.Math.PRR).
(8) Zone boundaries G.sub.1,2, G.sub.2,3, . . . , generally G, between two MTA zones Z thus represent the distance from the laser scanner 1 from which there is a further pulse in the air when this distance is exceeded. If a target U.sub.2 in the surroundings lies at a boundary zone G (here: the boundary zone G.sub.4,5), the reflected pulse E arrives at the laser scanner 1 exactly at the time of emission of a subsequent transmission pulse S and cannot be received in the receiving electronics of the distance meter or scanner 1 for the reasons indicated in the introduction (device near reflections or back-scattering of the transmitted pulses S). Targets U in the surroundings at the zone boundaries G are thus invisible to the laser scanner 1, and therefore a blind range B forms around each zone boundary G, the width b of which blind range is dependent, among other things, on the width or duration of the transmitted pulse S and the distance of interfering short-range targets in the laser scanner 1, for example housing parts or passage windows.
(9) For the topography V in the example of FIG. 1, three specific regions B.sub.1, B.sub.2 and B.sub.3 are provided at the zone boundaries G.sub.4,5 and G.sub.3,4, in which no targets U in the surroundings can be detected.
(10) On the basis of different examples depicted in FIGS. 2 to 4, a method for pulse time-of-flight distance measurement will be described hereinafter which reduces or avoids the effect of blind ranges B.
(11) According to FIGS. 2 and 3, three exemplary transmitted pulses S.sub.k, S.sub.k+1, S.sub.k+2 (depicted in the graph of FIG. 2 as transmitted pulse power P.sub.S over time t) with a predetermined first mutual pulse spacing .sub.1, which is the reciprocal value 1/PRR.sub.1 of a first pulse repetition rate PRP.sub.1, are emitted successively at transmission times TS.sub.k, TS.sub.k+1, TS.sub.k+2 respectively. The first pulse repetition rate PRR.sub.1 is selected here from a set M={PRR.sub.i} (i=1, 2, . . . , I; I2) of at least two different pulse repetition rates PRR.sub.i, as will be explained later in greater detail. In addition, received pulses E.sub.k, E.sub.k+1, . . . (depicted in the graph of FIG. 2 as received pulse power P.sub.E over time t) are received by the laser scanner 1 at the reception times TE.sub.k, TE.sub.k+1 . . . .
(12) To explain the present method more simply, the same index k is used in the example of FIGS. 2 and 3 for each received pulse E assigned to a corresponding transmitted pulse S, and the temporal illustration one above the other of the transmitted and received pulse trains P.sub.s(t) and P.sub.E(t) selected in FIG. 2 is indicative of targets U in the surroundings in the first MTA zone Z.sub.1; for targets U in other MTA zones, for example here the targets U.sub.k, U.sub.k+1, U.sub.k+2 in the fourth and fifth MTA zone Z.sub.4, Z.sub.5, a corresponding time offset between the two pulse trains P.sub.S(t) and P.sub.E(t) must be taken into consideration in FIG. 2. The corresponding MTA-zone-correct assignment of the transmitted and received pulses S, E of the two pulse trains P.sub.S (t) and P.sub.E(t) can be performed independently of the present method in any way known in the prior art and is not described here in greater detail.
(13) It goes without saying that the mutual spacing of the received pulses E is dependent not only on the pulse spacing (here: .sub.1) of the associated transmitted pulses S, but also on the distance of the targets U in the surroundings reflecting said pulses. In the example of FIG. 2, the reception times TE.sub.k, TE.sub.k+1, and TE.sub.k+2 therefore move ever closer to the respective closest transmission times TS.sub.k, TS.sub.k+1 and TS.sub.k+2, if, as in the example of FIG. 3, with sweeping fan-shaped scanning in rows in an angular range between the scan boundary angles .sub.L and .sub.R from left to right, the target distances D.sub.k, D.sub.k+1, D.sub.k+2 of three scanned targets U.sub.k, U.sub.k+l, U.sub.k+2 in the surroundings become shorter, running from the laser scanner 1.
(14) According to FIG. 2, upon receipt of a reflected received pulse E.sub.k, the transmission time TS closest to the reception time TE.sub.k of said pulse (here: transmission time TS.sub.k) and a time interval .sub.k between these two are ascertained. It is then checked whether the ascertained time interval .sub.k falls below a predetermined first threshold .sub.1, i.e. whether the reception time TE.sub.k lies within a window extending with the width of the first threshold .sub.1 in each case from left to right from the closest ascertained transmission time TS.sub.k. In the example of FIG. 2 this is not the case for the received pulses E.sub.k, E.sub.k+1; by contrast, the time interval .sub.k+2 determined for the reception time TE.sub.k+2 of the third received pulse E.sub.k+2 for the transmission time TS.sub.k+2 lying closest in time is smaller than the aforesaid first threshold .sub.1. If desired, a time interval of this type .sub.k, .sub.k+1, . . . can also be determined only for each second received pulse E, or less often, for example depending on a previously determined time interval .sub.k1, .sub.k2, . . . .
(15) In the case that the first threshold .sub.1 is undershot, a second pulse repetition rate PRR.sub.2 is selected from the aforesaid set M={PRR.sub.i} and predetermined for the following transmission of transmitted pulses S, here: S.sub.k+3, S.sub.k+4. The transmitted pulses S.sub.k+2, S.sub.k+3 and S.sub.k+4 consequently have a mutual pulse spacing .sub.2, which corresponds to the reciprocal value 1/PRR.sub.2 of the second pulse repetition rate PRR.sub.2 and differs by an amount from the first pulse spacing .sub.1; see the hypothetical transmission time TS.sub.k+3 in FIG. 2 with pulse spacing .sub.1 from the transmission time TS.sub.k+2. The zone boundaries G are thus shifted from the positions shown by solid lines to the positions shown by dashed lines, for example the boundary G.sub.4,5 to the boundary G.sub.4,5.
(16) FIG. 3 shows a selection of this kind of the second pulse repetition rate PRR.sub.2 from the set M with a scanning angle .sub.1 in a graph of the pulse repetition rates PRR over the scanning angle or time t as jump from the first pulse repetition rate PRR.sub.1 to the (smaller) second pulse repetition rate PRR.sub.2; this can also be deduced from the schematic graph of FIG. 4a. The situation possible as an alternative to this example, i.e. that the first pulse repetition rate PRR.sub.1 is smaller than the second PRR.sub.2, is depicted in FIG. 4b.
(17) The temporal drawing closer of the reception time TE.sub.k+2 to the transmission time TS.sub.k+2 (FIG. 2) can also be seen in FIG. 3, in that the topography V at the scanning angle .sub.1 arrives so to speak in a spatial portion A.sub.1 around the zone boundary G.sub.4,5 corresponding to the first threshold .sub.1, this being symbolised by grey shading. By corresponding determination of the first threshold .sub.1, the portion A.sub.1 for example has approximately the same width b (FIG. 1) as the blind ranges B; it can be, alternatively, wider or (less preferred) even narrower.
(18) Revisiting the example of FIG. 2, the closest transmission time TS.sub.k+3 after the aforesaid pulse repetition rate change from PRR.sub.1 to PRR.sub.2 is now distanced sufficiently far from the closest reception time TE.sub.k+3, in this example thereafter; the received pulse E.sub.k+3 was leapfrogged so to speak. FIG. 3 shows this leapfrogging as an offset of the zone boundary from G.sub.4,5 (as a result of the first pulse repetition rate PRR.sub.1) to G.sub.4,5 (as a result of the second pulse repetition rate PRR.sub.2), whereby the blind range B at the scanning angle .sub.1 leapfrogs the topography V so to speak. To this end, the first threshold .sub.1 could optionally also be determined depending on the particular considered MTA zone Z.
(19) Alternatively to a leapfrogging of this kind, a falling back of the transmission times S in relation to the reception times E or of a zone boundary G in relation to the topography V can be provided by suitable selection of another pulse repetition rate PRR.sub.i from the set M, as symbolised for the scanning angle range .sub.2 to .sub.3 in the example of FIG. 4a for a set M of two different pulse repetition rates PRR.sub.i, and in the example of FIG. 3 for a set M of four different pulse repetition rates PRR.sub.i. In the latter exampleproceeding from the smallest pulse repetition rate (here: PRR.sub.2)when the topography V draws closer to the laser scanner 1 and the zone boundary G.sub.3,4, the next-highest pulse repetition rate PRR.sub.3 is firstly predetermined, and as it draws closer to the new resultant zone boundary, the even higher pulse repetition rate PRR.sub.4 is predetermined, and so on and so forth, up to the highest pulse repetition rate (Here: PRR.sub.1). As the topography draws even closer to the laser scanner, a falling back due to a lack of higher pulse repetition rates PRR.sub.i in the set M is not possible; instead, in this case with the scanning angle .sub.3 the smallest pulse repetition rate (here: PRR.sub.2) is selected from the set M and the topography V is thus leapfrogged; see FIGS. 3 and 4a.
(20) FIG. 4c shows the same situation for a set M with a number of pulse repetition rates PRR.sub.i as quasi-continuous, ramp-like profile. In FIG. 4d this situation is shown for the reverse example, wherein the topography V approaches a zone boundary G as it is further distanced from the laser scanner 1, so that the predetermination of increasingly smaller pulse repetition rates PRR.sub.i of the set M firstly results in a falling back, and upon reaching the smallest pulse repetition rate PRR.sub.i the predetermination of the greatest pulse repetition rate PRR.sub.i of the set M results in a leapfrogging, as is shown comparatively for a set M={PRR.sub.1, PRR.sub.2} of two pulse repetition rates PRR.sub.i for the scanning angles .sub.5 to .sub.6 in the example of FIG. 3.
(21) As is clear on the basis of these examples, the reciprocal value (in the example of FIG. 2: the pulse spacing .sub.1) of the greatest pulse repetition rate (here: PRR.sub.1) and the reciprocal value (here: the pulse spacing .sub.2 of the smallest pulse repetition rate (here: PRR.sub.2) from the set M differ from one another by at least twice the first threshold .sub.1; if it is possible to dispense with the receipt of individual reflected pulses, the difference of the specified reciprocal values could also be smaller.
(22) In practice, it is favourable if the highest pulse repetition rate PRR.sub.i from the set M (in the present example: PRR.sub.1) is predetermined as often as possible, since this entails the quickest pulse sequence and thus the highest possible measurement resolution. For this purpose, a topography V becoming further distanced from a zone boundary G is optionally lagged so to speak, as will be explained hereinafter on the basis of the scanning angle .sub.4 and for the reception pulse E.sub.k+5 in the examples of FIGS. 2 and 3.
(23) To this end, a second threshold .sub.2, which is greater than the first threshold .sub.1, and thus a second location portion A.sub.2 (FIG. 3) are determined. The time interval .sub.k+5 of the reception time TE.sub.k+5 from the closest transmission time TS.sub.k+5 exceeds this second threshold .sub.2which was not yet the case for the time interval .sub.k+4 from the reception time TE.sub.k+4and the topography V leaves the portion A.sub.2 at the scanning angle .sub.4. Consequently, the next-greatest or equally the greatest pulse repetition rate (here: PRR.sub.1) is selected from the set M. The time interval .sub.k+5, as in the presented example, can be ascertained already proceeding from the transmission time TS.sub.k+5 altered in accordance with the newly selected pulse repetition rate PRR.sub.1 according to FIG. 3 the portion .sub.2 thus lies at the boundary zone G.sub.3,4 of the newly selected pulse repetition rate PRR.sub.1 or alternatively proceeding from the transmission time TS.sub.k+5, i.e. on the basis of the last-predetermined pulse repetition rate PRR.sub.2.
(24) Due to the interaction of the first and second threshold .sub.1, .sub.2, a hysteresis is produced so to speak: If the reception times TE move closer to the transmission times TS or the topography V moves closer to a blind range B, so that the first threshold .sub.1 is undershot, there is thus a falling back or leapfrogging; see the scanning angles .sub.1, .sub.2 and .sub.3 in the example of FIG. 3; if neither the first threshold .sub.1 is undershot nor the second threshold .sub.2 is exceeded, no new pulse repetition rate PRR.sub.i is selected from the set M, this occurring only if the second threshold .sub.2 is exceeded; if, consequently, the second threshold .sub.2 is undershot again by the topography drawing closer to a blind range, the pulse repetition rate PRR.sub.1 by contrast remains unchanged until the first threshold .sub.1 is also undershot.
(25) It goes without saying that the aforesaid disadvantages heresimilarly to the above-described falling backon the one hand can be sudden in the event of a set M of two pulse repetition rates PRR.sub.1 (as in the case of the scanning angle .sub.4 in FIG. 3) or on the other hand, with a greater set M of pulse repetition rates PRR.sub.1, can be multi-stepped or ramped (FIG. 4e) or, for example with a greater difference between the first and second threshold .sub.1, .sub.2 as in the example of FIG. 4f, can be ramped with a break, more specifically on the one hand with a topography V drawing closer to the laser scanner 1 according to FIGS. 4e and 4f and on the other hand with a topography V becoming further distanced from the laser scanner 1 according to the example of FIG. 4g. Furthermore, the falling back or lagging could also occur approximately in an S-shape (FIG. 4h). FIG. 4h additionally shows the particular case in which the topography V drawing closer to a boundary zone G is firstly avoided, but the topography V consequently becomes further distanced, so that lagging is possible without leapfrogging.
(26) The invention is not limited to the presented embodiments, but comprises all variants, combinations and modifications that fall within the scope of the accompanying claims. The distance measurement could thus be performed for example on the basis of general light pulses, radio pulses, in particular radar pulses, sound pulses, or the like and/or fromstationary or movableground-, air- or sea-borne scanners or distance meters which for example are directed towards moving targets U in the surroundings.
