TAKING DISTANCE IMAGES

• US 20080186470A1
• Filed: 09/13/2007
• Published: 08/07/2008
• Est. Priority Date: 09/15/2006
• Status: Active Grant

• Current Assignee: Triple-In Holding AG
• Original Assignee: Triple-In Holding AG
• Inventors: Hipp, Johann
• Granted Patent: US 7,787,105 B2
• Time in Patent Office: Days
• US Class Current: 356/5.08
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4865 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 Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

Abstract

The invention relates to a method for the taking of a large number of distance images comprising distance picture elements, wherein electromagnetic radiation is transmitted in each case in the form of transmission pulses using a plurality of transmitters arranged in an array for each distance image to be taken and reflected echo pulses are detected using a plurality of receivers arranged in an array, with the respective distances of objects at which the transmission pulses are reflected and forming a distance picture element being measured by determining the pulse time of flight, wherein a plurality of individual measurements are carried out using a time measuring device connected after the receiver array for each distance image to be taken, in which individual measurements a respective pulse chain is processed which includes a logical start pulse derived from the respective transmission pulse and at least one logical receiver pulse formed from an echo pulse or a noise pulse, wherein the logical receiver pulses are each generated by means of at least one reference of the receiver, the reference being broken through by the underlying echo pulses or noise pulses, with an exceeding of the reference forming the positive flank of the receiver pulse defining an up event and a falling below of the reference forming the negative flank of the receiver pulse defining a down event, wherein, for each distance image to be taken, the associated pulse chains are formed in that the start pulses and the associated receiver pulses are each combined at the right time, the pulse chains formed in this manner are distributed over an array of time measuring channels formed by the time measuring device in accordance with a pre-settable measurement procedure, and, for each time measuring channel, the time durations are determined which, in each case with reference to a point in time before the start pulse, pass until a receiver pulse in that, for each up event and/or for each down event, at least the respective clock pulses are counted which are made available by a central clock at a known frequency, and the counter results are stored as an event list in an arrangement taking account of their respective time information, and wherein the stored event lists of all time measuring channels are read out and evaluated in order to convert the respective time information contained in the event lists into distance values corresponding to the distance picture elements.

Claims

1. A method for the talking of a large number of distance images comprising distance picture elements,

wherein electromagnetic radiation is transmitted in each case in the form of transmission pulses (14) using a plurality of transmitters (15) arranged in an array (130) for each distance image to be taken and reflected echo pulses (1) are detected using a plurality of receivers (2) arranged in an array (125), with the respective distances of objects at which the transmission pulses (14) are reflected and which form a distance picture element being measured by determining the pulse time of flight;

wherein a plurality of individual measurements are carried out using a time measuring device connected after the receiver array (125) for each distance image to be taken, in which individual measurements a respective pulse chain is processed which includes a logical start pulse (73) derived from the respective transmission pulse (14) and at least one logical receiver pulse (79) formed from an echo pulse (1) or a noise pulse (76);

wherein the logical receiver pulses (79) are each generated by means of at least one reference (5) of the receiver (2), the reference being broken through by the underlying echo pulses or noise pulses, with an exceeding of the reference (5) forming the positive flank of the receiver pulse defining an up event (81) and a falling below of the reference forming the negative flank of the receiver pulse defining a down event (82);

wherein, for each distance image to be taken,

the associated pulse chains (80) are formed in that the start pulses (73) and the associated receiver pulses (79) are each combined at the right time;

the pulse chains (80) formed in this manner are distributed onto an array of time measuring channels formed by the time measuring device in accordance with a pre-settable measurement procedure; and

,

for each time measuring channel,

the time durations are determined which, with reference in each case to a point in time before the start pulse (73), pass up to a receiver pulse (79) in that, for each up event (81) and/or for each down event (82), at least the respective clock pulses are counted which are made available by a central clock (33) at a known frequency; and

the counter results are stored as an event list in an arrangement taking account of their respective time information;

and wherein the stored event lists of all time measuring channels are read out and evaluated in order to convert the respective time information contained in the event lists into distance values corresponding to the distance picture elements.

2. A method in accordance with claim 1, characterized in that the references (5) of the receivers (2) are each disposed in the noise so that the logical receiver pulses (79) refer back to echo pulses and noise pulses.

3. A method in accordance with claim 1, characterized in that the processing of receiver pulses (79) is in each case suppressed until a pre-settable point in time after the start pulse (73) and the start pulse (73) is placed into the time gap arising thereby at the correct time on the formation of the pulse chain (80).

4. A method in accordance with claim 1, characterized in that each time measuring channel is split into two branches, with the up events (81) being measured in the one branch and the down events (82) being measured in the other branch.

5. A method in accordance with claim 1, characterized in that, for the determination of the time durations, in each case both the whole periods of the clock pulses which have passed are counted and the part period (85, 88) counted too much up to the point in time of the up-event (81) and/or counted too much up to the point in time of the down event (82) are determined so that two partial results are obtained for each up event (81) and/or for each down event (82).

6. A method in accordance with claim 5, characterized in that the part periods (85, 88) are measured by means of TDCs (time to digital converters);

and/or

in that the part periods (85, 86) are each measured as multiples of a pre-set delay time so that a first counter result indicating the number of passed whole clock pulse periods is obtained and a second counter result indicating the number of passed delay times in a part period (85, 88) is obtained for each up event (81) and/or for each down event (82).

7. A method in accordance with claim 6, characterized in that the delay time is calibrated with respect to the period of the central clock (33) for the compensation of unwanted changes in the pre-set delay time.

8. A method in accordance with claim 1, characterized in that a number of time measuring channels is provided for each distance image to be taken, said number being smaller than the number of pulse chains (80) to be processed;

and in that the pulse chains (80) to be processed are supplied to the time measuring channels sequentially in groups.

9. A method in accordance with claim 1, characterized in that the pulses of a pulse chain (80) are distributed to a plurality of time measuring channels so that at least two pulses of the pulse chain (80) are processed in different time measuring channels.

10. A method in accordance with claim 1, characterized in that a pulse chain (80) is processed in parallel in a plurality of time measuring channels, with the clock pulses of the central clock (33) preferably being supplied to the time measuring channels in a phase shifted manner.

11. A method in accordance with claim 1, characterized in that in each case a plurality of individual measurements originating from the same transmitter/receiver pair and thus relating to the same distance picture element are processed together like an individual measurement for the carrying out of so-called “

burst”

measurements, but are treated separately again in an evaluation following the processing.

12. A method in accordance with claim 1, characterized in that in particular when noise pulses (76) are present in addition to echo pulses (1) due to correspondingly set receiver references (5), in particular set to a value above 4.5 NEP, a plurality of individual measurements are averaged which originate sequentially from the same transmitter/receiver pair and thus relate to the same distance picture element.

13. A method in accordance with claim 1, characterized in that, in particular in the case of so-called “

burst”

measurements, for the averaging of the individual measurements

at least one time pattern memory is made available which is divided into a plurality of memory cells with which a time window is associated;

with a time window corresponding to the duration of a whole clock pulse of the central clock (33) or to the duration of a delay time and the clock pulses and part periods (85, 88) are respectively measured as their multiples;

the event lists of the individual measurements are transmitted sequentially into the same time pattern memory in that an up event (81) is evaluated as positive and a down event (82) is evaluated as negative, or vice versa;

the number of break-throughs of the receiver reference (5) is accumulated for each time window on the averaging.

14. A method in accordance with claim 13, characterized in that, subsequently to the averaging of the individual measurements, the content of the time pattern memory is integrated to an amplitude function and a detection threshold is applied to the amplitude function;

and in that the associated object distance is in each case determined in the amplitude function for the echo pulses (1) on the basis of at least one point in time at which the detection threshold is broken through.

15. A method in accordance with claim 13, characterized in that the pulse width representing a measure for the power of the corresponding echo pulse (1) is used for the error compensation in the amplitude function, in particular by correction of the point in time at which the detection threshold is broken through, in particular exceeded.

16. A method in accordance with claim 13, characterized in that a rough amplitude function is determined in that the integration is only carried out for count values of the time pattern memory which in each case represent a number of passed clock pulses;

in that special part ranges going back to echo pulses are identified with reference to the rough amplitude function; and

in that the integration of the content of the time pattern memory is carried out only for the identified part ranges for the amplitude function.

17. A method in accordance with claim 14, characterized in that the detection threshold is set in dependence on the receiver reference (5), in particular in dependence on the measure of a reduction of the receiver reference (5) with respect to a value of 4.5 NEP.

18. A method in accordance with claim 1, characterized in that the reference (5) of at least one receiver (2) changes, in particular reduces as the distance decreases, in dependence on the distances measured with the receiver (2).

19. A method in accordance with claim 1, characterized in that the transmitters (15) of the transmitter array (130) each transmit the transmitted radiation in an individual transmission spatial angle (131a) and the individual transmission spatial angles (131a) combine to form a total transmission spatial angle (130a);

and

in that the receivers (2) of the receiver array (125) each receive the reflected radiation from an individual reception spatial angle (126a) and the individual reception spatial angles (126a) combine to form a total reception spatial angle (125a), with the total reception spatial angle (125a) including the total transmission spatial angle (130a) and overlaps of the individual reception spatial angles (126a) and individual transmitter spatial angles (131a) being present which can be distinguished from one another, with each overlap corresponding to a distance picture element; and

in that the overlaps are grouped for the measurement in the time measuring device for the formation of distance picture elements which can be distinguished from one another.

20. A method in accordance with claim 19, characterized in that the grouping tales place in a spatial and/or temporal respect;

with, in the case of an overlap of a plurality of individual reception spatial angles (126a) with an individual transmission spatial angle (131a), a spatial grouping taking place and the associated receivers (2) working in parallel in time; and

with, in the case of an overlap of an individual reception spatial angle (126a) with a plurality of individual transmission spatial angles (131a), a temporal grouping taking place and the associated transmitters being activated sequentially in time.

21. A method in accordance with claim 19, characterized in that those distinguishable distance picture elements which represent the totally detectable radiation of a transmitter (15) are grouped to form a sub-group;

and

in that so many sub-groups are grouped to form a group that the number of the distinguishable distance picture elements present in the group is at most equal to the number of time measuring channels of the time measuring device.

22. A method in accordance with claim 19, characterized in that, in dependence on the relationship of the number of the totally present distinguishable distance picture elements and the number of the time measuring channels, the groups in the time measuring channels are processed sequentially, when the number of the time measuring channels for the totally present distinguishable distance picture elements is insufficient;

or in parallel, when sufficient time measuring channels are present for the totally present distinguishable distance picture elements.

23. A method in accordance with claim 1, characterized in that, in particular for the suppression of the interference radiation portion and/or for the reduction of the dynamic range, the receivers (2), in particular the active detection surfaces (126) of the receivers (2), are masked, in particular by means of a shadow mask (134) positioned in front of the receivers (2).

24. A method in accordance with claim 1, characterized in that a shadow mask (134) disposed in front of the receivers (2) is arranged in the focal plane of an optical projection system (47) of the receivers (2).

25. A method in accordance with claim 1, characterized in that a taking surface formed by the distance picture elements and in particular of linear or strip shape is moved in space and a hole of a shadow mask (134) disposed in front is associated with each receiver (2), said hole being smaller in the direction of movement of the taking surface than the receiver (2), in particular than the active detection surface (126) of the receiver (2), with a plurality of transmitters (15) being associated with the receiver (2) to increase the resolution, said transmitters being activated sequentially corresponding to the movement of the taking surface.

26. A method in accordance with claim 23, characterized in that the receivers (2) are in each case larger in the direction of movement of the taking surface by a whole number multiple than the holes of the shadow mask (134) disposed in front and the number of the transmitters (15) respectively associated with the receivers (2) is equal to this whole number multiple.

27. A method in accordance with claim 1, characterized in that a plurality of transmitter partial arrays and/or a plurality of receiver partial arrays are assembled by means of a shadow mask (134) such that gaps (128, 133) present between the transmitters (15), in particular the active transmission surfaces (131) of the transmitters (15), and/or between the receivers (2), in particular the active detection surfaces (126) of the receivers (2), are at least partly closed.

28. A method in accordance with claim 1, characterized in that the radiation of the transmitters (15) of the transmitter array (130) is transmitted such that, in the total transmission spatial angle (130a), the transmitted radiation is disposed on at least one taking line, preferably on one single taking line.

29. A method in accordance with claim 1, characterized in that a taking surface formed by the distance picture elements and in particular of linear or strip shape is moved in space, in particular with the apparatus, by movement of the apparatus as a whole which is in particular attached to a movable carrier (65, 66, 70), e.g. in the form of a vehicle or aircraft, and/or relative to the apparatus by means of at least one radiation deflection unit (50), in particular at least one deflection mirror pivotable, rotatable or tiltable around at least one axis.

30. A method in accordance with claim 29, characterized in that the taking surface is movable in space by means of two radiation deflection units (50) whose tilting axis, pivoting axis or axis of rotation extend perpendicular to one another.

31. A method in accordance with claim 29, characterized in that the taking surface is of linear or strip shape and the taking surface is moved in the direction of its longitudinal extent (63) and/or perpendicular (62) thereto.

32. A method in accordance with claim 1, characterized in that predetermined objects are searched for in the taken distance images by means of evaluation software (object recognition) and the objects found are tracked using sequentially taken distance images (object tracking);

and in that a plant (70) is controlled by means of control software in dependence on the results of the object recognition and/or object tracking.

33. A method in accordance with claim 1, characterized in that an apparatus in accordance with any one of the following claims is used.

63. Use of a method in accordance with claim 1 with an apparatus for the taking of a large number of distance images comprising distance picture elements having

a plurality of transmitters (15) arranged in an array (130) for the transmission of electromagnetic radiation in the form of transmission pulses (14);

a plurality of receivers (2) arranged in an array (125) for the detection of reflected echo pulses (1),

wherein an amplifier (3) for the generation of an analog receiver signal (77) containing echo pulses (1) and noise pulses (76) and a device having at least one reference (5) are associated with each receiver (2) with which reference a sequence of logical receiver pulses (79) can be generated from the analog receiver signal (77) which each go back to an echo pulse (1) or noise pulse (76) exceeding the reference (5), with an exceeding of the reference (5) forming the positive flank of the receiver pulse defining an up event (81) and a falling below of the reference forming a negative flank of the receiver pulse defining a down event (82); and

a time measuring device disposed after the receiver array (125) for the measurement by determination of the pulse time of flight of the distances of objects which respectively form a distance picture element and at which the transmission pulses (14) are reflected,

wherein the time measuring device is configured to carry out a plurality of associated individual measurements for each distance image to be taken, in which in each case a pulse chain (80) is processed which includes a logical start pulse (73) derived from the respective start pulse (14) and at least one logical receiver pulse (79),

wherein the time measuring device comprises

a device (20) for the formation of the pulse chains (80) which is configured to assemble the start pulses (73) and the associated receiver pulses (79) in each case at the right time;

an array of time measuring channels which are each made for the processing of start pulses (73) and receiver pulses (79);

a device (21) which is made for the distribution of the pulse chains (80) over the time measuring channels in accordance with a predeterminable measurement procedure;

a central clock (33) which provides clock pulses of a known frequency for the time measuring channels;

a device for each measuring channel which is configured to determine time durations which respectively pass until a receiver pulse (79) and comprises at least one counter (23) which counts in each case at least the clock pulses of the central clock (33) for each up event (81) and/or for each down event (82) which pass, with respect to the start pulse (73), until the respective receiver pulse (79);

a device with which the count results are stored as an event list in an arrangement taking account of their respective time information; and

a device for reading out and evaluating the stored event lists of all time measuring channels which is configured to convert the time information contained in the event lists into distance values corresponding to the distance picture elements.

64. A method in accordance with claim 1 when used with an IC module comprising a time measuring device for the carrying out of the method in which at least a plurality of time measuring channels forming an array are integrated, in particular

counters (23) for the counting of whole periods of the clock pulses passed until the respective receiver pulse (79);

separators (22) for the formation of part period pulses (84, 87);

delay arrays (24) for the delay of the part period pulses (84, 87);

decoders (25) for the implementation of the number of delay times passed in a part period (85, 88) into information which is in particular binary encoded;

latch arrays for the temporary storage of the encoded information of the decoders (25);

memory regions (26);

an interface (27) associated with the memory regions (26).

65. A method in accordance with claim 1 when used with an apparatus for the taking of a large number of distance images comprising distance picture elements having

a plurality of transmitters (15) arranged in an array (130) for the transmission of electromagnetic radiation in the form of transmission pulses (14);

a plurality of receivers (2) arranged in an array (125) for the detection of reflected echo pulses (1),

wherein an amplifier (3) for the generation of an analog receiver signal (77) containing echo pulses (1) and noise pulses (76) and a device having at least one reference (5) are associated with each receiver (2) with which reference a sequence of logical receiver pulses (79) can be generated from the analog receiver signal (77) which each go back to an echo pulse (1) or noise pulse (76) exceeding the reference (5), with an exceeding of the reference (5) forming the positive flank of the receiver pulse defining an up event (81) and a falling below of the reference forming a negative flank of the receiver pulse defining a down event (82); and

a time measuring device disposed after the receiver array (125) for the measurement by determination of the pulse time of flight of the distances of objects which respectively form a distance picture element and at which the transmission pulses (14) are reflected,

wherein the time measuring device is configured to carry out a plurality of associated individual measurements for each distance image to be taken, in which in each case a pulse chain (80) is processed which includes a logical start pulse (73) derived from the respective start pulse (14) and at least one logical receiver pulse (79),

wherein the time measuring device comprises

a device (20) for the formation of the pulse chains (80) which is configured to assemble the start pulses (73) and the associated receiver pulses (79) in each case at the right time;

an array of time measuring channels which are each made for the processing of start pulses (73) and receiver pulses (79);

a device (21) which is made for the distribution of the pulse chains (80) over the time measuring channels in accordance with a predeterminable measurement procedure;

a central clock (33) which provides clock pulses of a known frequency for the time measuring channels;

a device for each measuring channel which is configured to determine time durations which respectively pass until a receiver pulse (79) and comprises at least one counter (23) which counts in each case at least the clock pulses of the central clock (33) for each up event (81) and/or for each down event (82) which pass, with respect to the start pulse (73), until the respective receiver pulse (79);

a device with which the count results are stored as an event list in an arrangement taking account of their respective time information; and

a device for reading out and evaluating the stored event lists of all time measuring channels which is configured to convert the time information contained in the event lists into distance values corresponding to the distance picture elements,

wherein at least a plurality of time measuring channels forming an array are integrated into said apparatus, in particular

counters (23) for the counting of whole periods of the clock pulses passed until the respective receiver pulse (79);

separators (22) for the formation of part period pulses (84, 87);

delay arrays (24) for the delay of the part period pulses (84, 87);

decoders (25) for the implementation of the number of delay times passed in a part period (85, 88) into information which is in particular binary encoded;

latch arrays for the temporary storage of the encoded information of the decoders (25);

memory regions (26);

an interface (27) associated with the memory regions (26).

66. An IC module in accordance with claim 64, characterized in that, in addition to the time measuring channels, in each case the device (20) for the formation of the pulse chains (80), the device (21) for the distribution of the pulse chains (80) and/or a device for the time measuring control (29) are integrated at least partly into the IC module (32).

67. An IC module in accordance with claim 65, characterized in that, in addition to the time measuring channels, in each case the device (20) for the formation of the pulse chains (80), the device (21) for the distribution of the pulse chains (80) and/or a device for the time measuring control (29) are integrated at least partly into the IC module (32).

34. An apparatus for the taking of a large number of distance images comprising distance picture elements having

a plurality of transmitters (15) arranged in an array (130) for the transmission of electromagnetic radiation in the form of transmission pulses (14);

a plurality of receivers (2) arranged in an array (125) for the detection of reflected echo pulses (1),

wherein an amplifier (3) for the generation of an analog receiver signal (77) containing echo pulses (1) and noise pulses (76) and a device having at least one reference (5) are associated with each receiver (2) with which reference a sequence of logical receiver pulses (79) can be generated from the analog receiver signal (77) which each go back to an echo pulse (1) or noise pulse (76) exceeding the reference (5), with an exceeding of the reference (5) forming the positive flank of the receiver pulse defining an up event (81) and a falling below of the reference forming a negative flank of the receiver pulse defining a down event (82); and

a time measuring device disposed after the receiver array (125) for the measurement by determination of the pulse time of flight of the distances of objects which respectively form a distance picture element and at which the transmission pulses (14) are reflected,

wherein the time measuring device is configured to carry out a plurality of associated individual measurements for each distance image to be taken, in which in each case a pulse chain (80) is processed which includes a logical start pulse (73) derived from the respective start pulse (14) and at least one logical receiver pulse (79),

wherein the time measuring device comprises

a device (20) for the formation of the pulse chains (80) which is configured to assemble the start pulses (73) and the associated receiver pulses (79) in each case at the right time;

an array of time measuring channels which are each made for the processing of start pulses (73) and receiver pulses (79);

a device (21) which is made for the distribution of the pulse chains (80) over the time measuring channels in accordance with a predeterminable measurement procedure;

a central clock (33) which provides clock pulses of a known frequency for the time measuring channels;

a device for each measuring channel which is configured to determine time durations which respectively pass until a receiver pulse (79) and comprises at least one counter (23) which counts in each case at least the clock pulses of the central clock (33) for each up event (81) and/or for each down event (82) which pass, with respect to the start pulse (73), until the respective receiver pulse (79);

a device with which the count results are stored as an event list in an arrangement taking account of their respective time information; and

a device for reading out and evaluating the stored event lists of all time measuring channels which is configured to convert the time information contained in the event lists into distance values corresponding to the distance picture elements.

35. An apparatus in accordance with claim 34, characterized in that the references (5) of the devices associated with the receivers (2) are each disposed in the noise so that the logical receiver pulses (79) go back to echo pulses (1) and noise pulses (76), with the devices each comprising at least one comparator (4) or at least one limiting amplifier.

36. An apparatus in accordance with claim 34, characterized in that each time measuring channel is split into two branches, with the one branch being made for the processing of the up events (81) and the other branch being made for the processing of the down events (82).

37. An apparatus in accordance with claim 34, characterized in that the devices for the determination of the time durations are each configured both to count the passed whole periods of the clock pulses and to determine the part period (85, 88) counted too much at the point in time of the up event (81) and/or counted too much at the point in time of the down event (82).

38. An apparatus in accordance with claim 37, characterized in that, for the determination of the part periods (85, 88), the devices each include means for the formation of part period pulses (84, 87), means for the delay of the part period pulses (84, 87) and means for the determination of the width of the part period pulses (84, 87).

39. An apparatus in accordance with claim 38, characterized in that separators (22) are provided for the formation of the part period pulses (84, 87).

40. An apparatus in accordance with claim 37, characterized in that, for the measurement of the part period pulses (84, 87), TDCs (time to digital converters) are provided;

and/or in that, for the measurement of the part period pulses (84, 87), delay arrays (24) are provided which include delay elements, in particular in the form of a plurality of inverters or double inverters connected in series and having a predetermined delay time, as well as decoders (25) which are configured to convert count results which each indicate the number of delay times passed in a part period (85, 88) into information which is in particular binary encoded.

41. An apparatus in accordance with claim 40, characterized in that latch arrays are provided which are configured to temporarily store the encoded information of the decoders (25).

42. An apparatus in accordance with claim 34, characterized in that the device (21), which is configured to distribute the pulse chains (80) formed for each distance image to be taken onto the array of time measuring channels in accordance with a predeterminable measurement procedure, is operable in at least one of the following measurement modes, preferably selectable in each of them:

(i) the pulse chains (80) to be processed can be supplied sequentially in groups to the time measuring channels by means of a device, in particular a multiplexer device;

(ii) the pulses of a pulse chain (80) can be processed serially and can be distributed over a plurality of time measuring channels such that at least two pulses of the pulse chain (80) can be processed in different time measuring channels;

(iii) a pulse chain (80) can be processed in parallel in a plurality of time measuring channels, with preferably a device being provided with which the clock pulses of the central clock (33) can be supplied to the time measuring channels in a phase shifted manner;

(iv) a plurality of individual measurements originating from the same transmitter/receiver pair and thus relating to the same distance picture element can be processed together like an individual measurement (so-called “

burst”

measurement).

43. An apparatus in accordance with claim 34, characterized in that the number of time measuring channels is smaller than the number of receivers (2).

44. An apparatus in accordance with claim 34, characterized in that a device for the measurement procedure control (17) is provided which is configured to control the framework of the time measurement.

45. An apparatus in accordance with claim 34, characterized in that a device for the time measuring control (29) is provided which is configured to control the determination of the time durations in the time measuring channels in dependence on a measurement procedure control (17).

46. An apparatus in accordance with claim 34, characterized in that the time measuring device comprises at least one IC module (32) into which at least a plurality of time measuring channels forming an array are integrated, in particular

counters (23) for the counting of whole periods of the clock pulses passed until the respective receiver pulse (79);

separators (22) for the formation of part period pulses (84, 87);

delay arrays (24) for the delay of the part period pulses (84, 87);

decoders (25) for the implementation of the number of delay times passed in a part period (85, 88) into information which is in particular binary encoded;

latch arrays for the temporary storage of the encoded information of the decoders (25);

memory regions (26);

an interface (27) associated with the memory regions (26).

47. An apparatus in accordance with claim 46, characterized in that, in addition to the time measuring channels, in each case the device for the formation of the pulse chains (80), the device for the distribution of the pulse chains (80) and the device for the time measuring control are integrated at least partly into the IC module (32).

48. An apparatus in accordance with claim 46, characterized in that the transmitter array (130), the receiver array (125), a device for the measurement procedure control (17), a device, in particular a multiplexer device, for the group-wise supply of the pulse chains (80) to be processed, the central clock (33) and/or a microprocessor system (28) for the reading out and evaluation of the stored event lists of all time measuring channels are provided separately from the IC module (32).

49. An apparatus in accordance with claim 34, characterized in that the time measuring device is configured to average a plurality of individual measurements originating from the same transmitter/receiver pair and thus relating to the same distance picture element.

50. An apparatus in accordance with claim 34, characterized in that the time measuring device includes a microprocessor (28) which is configured to read out the stored event lists of all time measuring channels and to convert the time information contained in the event lists into distance values corresponding to the distance picture elements.

51. An apparatus in accordance with claim 50, characterized in that the microprocessor (28) is configured to

average a plurality of individual measurements originating sequentially from the same transmitter/receiver pair and thus relating to the same distance picture element while using at least one time pattern memory;

integrate the content of the time pattern memory to an amplitude function subsequent to the averaging of the individual measurements;

apply a detection threshold to the amplitude function; and

determine the associated object distance in the amplitude function for the echo pulses (1) in each case on the basis of at least one point in time at which the detection threshold is passed through.

52. An apparatus in accordance with claim 34, characterized in that the transmitters (15) of the transmitter array (130) are each configured and arranged such that the transmitted radiation is projected at an individual transmission spatial angle (131a) and the individual transmission spatial angles (131a) combine to form a total transmission spatial angle (130a);

and in that the receivers (2) of the receiver array (125) are each configured and arranged such that the reflected radiation from a single reception spatial angle (126a) is received and the individual reception spatial angles (126a) combine to form a total reception spatial angle (125a), with the total reception spatial angle (125a) including the total transmission spatial angle (130a) and with mutually distinguishable overlaps of the individual reception spatial angles (126a) and individual transmission spatial angles (131a) being present, with each overlap corresponding to a distance picture element.

53. An apparatus in accordance with claim 52, characterized in that the projected radiation of the transmitters (15) of the transmitter array (130) lies on at least one line, preferably on one single line, in the total transmission spatial angle (130a).

54. An apparatus in accordance with claim 34, characterized in that the transmitters (15) of the transmitter array (130), in particular the active transmission surfaces (131) of the transmitters (15) preferably formed by laser diodes (10), lie on at least one line, preferably on one single line.

55. An apparatus in accordance with claim 34, characterized in that the receivers (2) of the receiver array (125), in particular the active detection surfaces (126) of the receivers (2) preferably formed by photodiodes, lie on at least one line, preferably on one single ingle.

56. An apparatus in accordance with claim 34, characterized in that the transmitter array (130) and/or the receiver array (125) each include an optical projection system (47, 48) which images the respective active surfaces (131, 126) in the distance field.

57. An apparatus in accordance with claim 34, characterized in that a shadow mask (134) is disposed in front of the receiver array (125) with which the receivers (2), in particular the active detection surfaces (126) of the receivers (2), can be insulated from one another.

58. An apparatus in accordance with claim 57, characterized in that the shadow mask (134) is applied directly to the receiver array (125), in particular to a carrier for the active detection surfaces (126) of the receivers (2), or is arranged at a spacing from the receiver array (125).

59. An apparatus in accordance with claim 57, characterized in that the shadow mask (134) is arranged in the focal plane of an optical projection system (48) of the receivers (2).

60. An apparatus in accordance with claim 34, characterized in that the transmitter array (130) and/or the receiver array (125) include a plurality of partial arrays and at least one shadow mask (134) is provided for the assembling of the partial arrays, said shadow mask being configured and arranged such that gaps (128, 133) present between the transmitters (15), in particular the active transmission surfaces (131) of the transmitters (15), and/or between the receivers (2), in particular the active detection surfaces (126) of the receivers (2), are at least partly closed.

61. An apparatus in accordance with claim 34, characterized in that at least one radiation deflection unit (50) which can be tilted, pivoted or rotated around at least one axis is provided to move the taking line in space, with in particular the radiation deflection unit (50) including at least one deflection mirror (51), preferably a polygon mirror.

62. An apparatus in accordance with claim 61, characterized in that two radiation deflection units (50) which can be tilted, pivoted or rotated are provided whose axes extend perpendicular to one another.