Method for measuring a distance
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.
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.