A New Concept for a Precise and Versatile Laser Range Finder and Optical Radar
At present strong efforts and high investments can be observed, trying to find better ways from the blind to the seeing robot. Fast non tactile distance measuring capabilities are required e.g. in industrial production scenes (robot vision and control, recognition and handling of 3D-objects etc.) and in space applications (automatic rendezvous and docking maneuver).
Today available sensors using ultrasonics, microwaves, triangulation and mono or stereo CCD-cameras are appropriate to distinct problems but lack of versatility.
Basing on the time-of-flight evaluation of reflected laser pulses we have investigated a new distance measuring concept, finding promising features: High resolution (mm), high angular resolution (some mrad), a measuring range from some cm to about 100 m to passive objects or up to 10 km with retroreflectors, a special time gate and amplitude gate for target selection, self-test and self-calibration facilities due to an internal reference fibers precise range and velocity evaluation using Kalman filtering and last not least remote sensing capabilities through 10 to 100 m of glass fiber. A small optical sensor is connected to the measuring system only by two fibers and can be mounted - save from electromagnetic interference - e.g. in a robots hand, enabling the robot to see its surroundings.
The most critical problem to be solved is to attain an accuracy in the millimeter range corresponding to a time accuracy in the 10 picosecond range.
Important aspects of the new concept and first experimental results are given.
KeywordsOptical Radar High Angular Resolution Robot Hand Robot Vision Passive Object
Ein neues Konzept für ein hochgenaues und vielseitiges Laserdistanzmeter und Optisches Radar
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