Scanning device

Abstract

The invention relates to a scanning device, in particular a laser scanner. The scanning apparatus includes: a detector device having a plurality of optical detectors; a scanning module designed to vary the position and / or orientation of the field of view of the detector device to define a corresponding scanning area; and an evaluation unit, which is designed to obtain information of an object in the scanning range of the scanning device on the basis of the combined detection signals of the detectors. According to the invention, the optical detectors of the detector arrangement are designed in the form of at least two detector arrays which are oriented in the same direction as one another, each detector array having at least three linear optical detectors which are adjacent to one another. According to the invention, the so-called detector array is arranged on a common circular ring, which extends perpendicular to the common orientation of the so-called detector array.

Description

TECHNICAL FIELD

[0001] The invention relates to a scanning device, in particular a laser scanner for periodic scanning of a defined scanning area or monitoring area. BACKGROUND

[0002] Conventional scanning devices usually comprise a detector arrangement with a plurality of optical detectors. In order to be able to scan a scanning area that is larger and / or more intensive than the simple field of view of the detector arrangement by means of such a scanning device, it is known that a scanning module needs to be provided in order to change the field of view of the detector arrangement. For example, the scanning module can cause a rotation of the detector arrangement. The resulting change of the field of view with respect to a fixed base of the scanning device defines the scanning area of the scanning device. Finally, an evaluation unit that is additionally provided serves to derive different information about objects within the scanning area from the detection signals of the different detector combinations of the detector arrangement, for example in the form of a 3D point cloud. In general, distance information belongs to these information, in particular. Optionally and / or additionally, it can also be considered to derive further information about the surface properties of the objects in the scanning area of the scanning device, for example color, roughness and / or material.

[0003] It is desirable to capture the information of the scanning area as precisely as possible by means of the detector arrangement. SUMMARY

[0004] It is an object of the invention to provide a scanning device that has a particularly efficient design of the detector arrangement and that performs a particularly fine scanning of the respective scanning area.

[0005] This object is achieved by a scanning device according to claim 1. Advantageous further developments are defined in the dependent claims.

[0006] The scanning device according to the invention has the feature that the optical detectors of the detector arrangement are designed as at least two independent, identically oriented detector arrays, each having at least three linear, adjacent to each other optical detectors. According to the invention, the so-called detector arrays are arranged on a common circular ring, which extends perpendicular to the common orientation of the so-called detector arrays.

[0007] The term "detector arrangement" herein refers to a combined module with a plurality of detector arrays, which are oriented parallel to each other and arranged in a chessboard-like manner (or in rows) on a common carrier plate. Typically, such a detector array provides a common data output for all its individual detectors. This can be pre-processed by an internal processing unit, which creates a combined output signal from the individual detector signals, which is in particular in digital form. The combination herein refers to the fact that the signals of the individual pixels can still be assigned to the respective pixel without being added. A pixel can consist of other sub-units, the signals of which are added to produce the signal of the pixel (e.g. SiPM). Each detector of a detector array defines a detection signal of a pixel of the respective detector array. The typical number of pixels of such a detector array is a power of two, e.g. 8, 16, 64, 128, 254. The length of the respective array is typically in the range of millimeters, while the outer diameter of the common circular ring is typically in the range of centimeters. For the respective scanning movement, no additional optical detectors need to be provided within the common circular ring. In particular, no additional optical detectors need to be provided within the common circular ring. For example, a control circuit board of the scanning device and / or of the detector arrangement, and / or an illumination device for illuminating the field of view of the detector arrangement can be provided.

[0008] In this case, the common orientation of the detector arrays refers to a common viewing direction of the individual detectors of the provided detector arrays. In Figure 1 , the orientation extends horizontally in the image plane; while in Figure 2 and Figure 3 , the orientation is perpendicular to the image plane. Each detector array extends perpendicular to the so-called orientation.

[0009] The use of detector arrays enables an especially dense arrangement of the individual detectors of the detector arrangement, so that the size of the gaps between the individual pixels in the detector arrangement is minimized. The special arrangement of these detector arrays on the common circular ring is such that the lateral position of the individual detector arrays is at different angles with respect to the scanning direction of the scanning device.

[0010] The scanning direction corresponds to the direction of the set movement of the field of view of the detector arrangement. As mentioned above, the individual detector arrays can be arranged inclined with respect to the scanning direction, e.g. at an angle of between 20° and 70° with respect to the scanning direction, preferably at an angle of between 30° and 60° with respect to the scanning direction. The different detector arrays can be arranged parallel or orthogonal (in plan view). This inclined position, in particular in combination with the especially dense arrangement of the detectors in the form of detector arrays, allows an especially detailed imaging of the seamlessly enclosed scanning area, since more pixels can be arranged in the scanning direction compared to an arrangement without an inclined position with respect to the scanning direction.

[0011] Thus, the design according to the present application is different from a design employing only a single large detector array which is tilted at a certain angle with respect to the scanning direction, as well as from a design in which multiple single detectors are arranged along a circular line, both in terms of design and efficiency. Rather, the present application is a unique combination of aspects of both approaches.

[0012] Especially, the scanning device is a laser scanner or LIDAR (Light Detection and Ranging). The scanning device can comprise a light emitter which emits an emission light into the surrounding of the scanning device, wherein the emission light is reflected (e.g. at an object) in the surrounding as a reception light. The reception light can then be projected or imaged onto the detector arrangement by the optics described herein. Especially, the scanning device is designed to determine distance information to an object in the surrounding depending on the light propagation time of the emission light and / or the reception light.

[0013] Preferably, the detector arrays of the detector arrangement are one-dimensional arrays of detectors, especially each of the one-dimensional arrays of detectors (i.e. each array) is located on a single semiconductor substrate. Preferably, the individual detectors are designed as CMOS sensors and / or non-resolved subarrays (Unterarrays) of avalanche photodiodes.

[0014] Such a design can enable an especially dense arrangement, thereby providing a field of view with a minimum distance between the resolved areas. A non-resolved subarray refers to a group of detectors of a detector array which outputs a common detection signal. In particular, each "detector" of a detector array can itself also be a so-called "subarray" consisting of single sensors. Once at least one of these sensors captures a detection (target), the entire subarray outputs a corresponding detection signal. From the detection signal output by the subarray it is not possible to determine how many sensors and / or which single sensors captured the detection (target).

[0015] Preferably, each of the detector arrays of the detector arrangement comprises 16 to 128 pixels or detectors, for example, comprises 64 pixels or detectors, especially each pixel or detector has a length of several millimeters, especially the length of each pixel or detector is between 1 mm and 20 mm. Preferably, the outer diameter of the common circular ring is several centimeters, especially the outer diameter of the common circular ring is between 1 cm and 5 cm.

[0016] ​The number of pixels of the detector array corresponds to the number of resolved detectors of the detector array. Thus, in the above-described design with subarrays of CMOS sensors or avalanche photodiodes, the number of pixels corresponds to the number of subarrays of CMOS sensors or avalanche photodiodes, not the product of the number of arranged subarrays of CMOS sensors or avalanche photodiodes and the number of single CMOS sensors or single avalanche photodiodes per subarray. The respective design is particularly compact while still providing a high resolution.

[0017] Preferably, a circuit board is arranged within the common circular ring of the detector array, which circuit board comprises electronic components, in particular a control unit, an evaluation unit and / or an illumination device, which are different from the detector array.

[0018] This makes it possible to realize an especially compact overall design of the sensor unit at a sufficiently high resolution.

[0019] Preferably, the detector arrays of the detector device are arranged on the common circular ring in such a way that they span the entire outer diameter of the common circular ring in at least one lateral projection thereof.

[0020] In other words, the detector arrays are arranged in such a way that they cover the entire width of the circular ring in the plane of the circular ring. This makes the overall design of the detector device and of the entire scanning apparatus particularly compact.

[0021] Preferably, the detector device comprises more than two detector arrays, in particular an even multiple thereof, for example four, six or eight respective detector arrays, which are arranged on the common circular ring.

[0022] This makes it possible to form a particularly narrow common circular ring and thus to realize a particularly compact overall design. Furthermore, if the respective detector arrays are arranged with a suitable height offset, on mutually opposite portions of the entire circular ring, transversely to the intended scanning direction, a further improved resolution is possible with the plurality of detector arrays. In particular, the height offset is half the height of the detectors or pixels transversely to the intended scanning direction. For example, two (in plan view) parallelly arranged detector arrays can be arranged in such a way that two orthogonally opposite detectors or pixels relative to the circular ring are offset relative to each other by half the size of a detector or pixel.

[0023] Preferably, the detector arrays of the detector arrangement are arranged such that the width of the common circular ring spanned is less than or equal to half, third, quarter and / or fifth of the inner diameter of the spanned circular ring. Additionally or alternatively, the detector arrays of the detector arrangement are preferably arranged such that the inner diameter of the common circular ring spanned is greater than half, two-thirds and / or five-sixths of the outer diameter of the spanned circular ring.

[0024] The respective design can achieve an especially compact design and a sufficiently high resolution.

[0025] Preferably, the detector arrays of the detector arrangement are arranged uniformly along at least half of the circumference of the common circular ring, in particular uniformly along the entire circumference of the common circular ring.

[0026] This makes it possible to achieve a maximum resolution with a minimum extension of the detector arrangement and the scanning device.

[0027] Preferably, at least two detector arrays of the detector arrangement are arranged opposite one another with respect to a radial axis of the common circular ring, but, with respect to the so-called radial axis, in particular with a height offset of less than the effective pixel height transverse to the radial axis.

[0028] This makes it possible to achieve an especially high resolution with a certain degree of redundancy for identifying and / or correcting single pixel errors of the detector arrays opposite one another. Preferably, the radial axis is oriented parallel with respect to a set scanning direction of the scanning device.

[0029] Preferably, the different detector arrays of the detector arrangement span different sectors of the common circular ring. Preferably, the different sectors spanned in this way do not overlap or overlap insignificantly. Preferably, the individual sectors jointly define a closed circular ring.

[0030] An insignificant overlap means an overlap of less than or equal to the extension of a single pixel of the respective detector array. This design can achieve an especially high resolution with a minimum spatial extension.

[0031] Preferably, at least two detector arrays are arranged at two different angles with respect to at least one radial axis of the common circular ring, wherein the two different angles differ from one another with respect to the so-called radial axis, in particular differ from one another only in their sign.

[0032] The different orientations of the detector arrays make it possible to achieve an especially compact detector arrangement with a minimum width of the common circular ring. The two respective angles differ from one another only in their sign, which ensures that, in a scanning direction along the so-called radial axis, the two sensor arrays have the same resolution transverse to the scanning direction. This simplifies the comprehensive evaluation of the detection signals of the individual detector arrays.

[0033] Preferably, the scanning module comprises at least one actuator for directly moving the detector array and / or the imaging unit of the detector device, in particular with a rotating mirror or a facette mirror rad, and at least one associated actuator for moving only the field of view of the detector device, in particular periodically and in particular substantially rotationally.

[0034] This design is particularly compact and reliable.

[0035] Preferably, the scanning device comprises an illumination device designed for illuminating the scanning region of the scanning device. Preferably, the illumination device is designed and / or equipped with a corresponding imaging unit such that the illumination device illuminates substantially only the field of view of the detector device.

[0036] This enables a particularly efficient, targeted illumination of the scanning region or the field of view of the detector device. By avoiding or at least reducing unnecessary illumination of regions that are remote from the scanning region of the scanning device, or of regions that are remote from the field of view of the detector device, a better resolution can be achieved under the premise of sufficient eye safety.

[0037] Preferably, the illumination device comprises at least one light emitter arranged corresponding to the common circle of at least one of the arranged detector arrays and / or the common circle of the detector arrays of the detector device.

[0038] For example, the scanning device can comprise a light emitter that emits a circular ring of light rays concentric to the common circle of the detector arrays. The illumination device can also comprise, for example, a plurality of light emitter arrays, wherein at least one of the plurality of light emitter arrays is oriented parallel to at least one associated arranged detector array of the detector device. Alternatively, for example, an illumination device that illuminates substantially the entire scanning region, or substantially only the region surrounding the field of view of the detector device, is also possible. Appropriately focused illumination can save energy and, by reducing the overall provided illumination, it is easier to ensure compliance with the requirements for eye safety of the ultimately formed scanning device.

[0039] Preferably, the scanning device comprises at least one optical system, in particular with at least one lens and / or at least one parabolic mirror, or, in particular, with exactly one lens and / or at least one parabolic mirror. In particular, at least one field stop array is located between the optical system (7) and the detector device on the focal plane of the optical system (7).

[0040] A suitable optical system enables targeted guidance of the exit light beam and the entrance light beam within the scanning device, thereby enabling an especially compact and efficient overall design of the scanning device. In the case of a lighting device being provided, a common and / or independent optical system can be provided for the lighting device and for the detector device, depending on the spatial design. Preferably, the optical system provided images the circle of confusion only. Preferably, the circle of confusion imaged sharply comprises or corresponds to the common circle of the detector array. Preferably, the field stop array comprises a separate opening for each single pixel or each single detector of the detector device. Preferably, the so-called openings are arranged in the position of the exact center above the respective pixel or detector, respectively. This enables a better subdivision of the field of view of the detector device and a separation of the respective input signals.

[0041] By the optical system imaging the circle of confusion only, an advantage of a simple and economic optical system is achieved. Preferably, the common circle is at least partially or completely located within the circle of confusion imaged sharply, thereby being imaged sharply on the detector array. Non-sharp imaging or projection can occur both inside and outside the common circle. BRIEF DESCRIPTION OF DRAWINGS

[0042] The application is described below purely by way of example with reference to the accompanying drawings.

[0043] Figure 1 The structure of an exemplary scanning device in the sense of the application is shown schematically;

[0044] Figure 2 A front view of a first exemplary detector device of a scanning device according to the application is shown schematically; and

[0045] Figure 3 A front view of a second exemplary detector device of a scanning device according to the application is shown schematically.

[0046] LIST OF REFERENCE SIGNS

[0047] 1 scanning device

[0048] 3 detector device

[0049] 4 detector

[0050] 5 carrier plate

[0051] 7 optical system / lens

[0052] 9 object

[0053] 11 scanning module

[0054] 13 actuator

[0055] 15 evaluation unit

[0056] 17 detector array

[0057] B width of the annulus

[0058] D a inner diameter of the annulus

[0059] D i outer diameter of the annulus

[0060] RA axis of rotation

[0061] SR scanning direction DETAILED DESCRIPTION

[0062] According to Figure 1 , the exemplary scanning device 1 according to the present application comprises a detector arrangement 3 having a plurality of detectors 4 mounted on a common carrier plate 5. The orientation of all detectors 4 is set perpendicular to the carrier plate 5. The scanning device 1 comprises a light emitter (not shown) for emitting light rays into the surrounding of the scanning device 1. The scanning device 1 further comprises an optical system 7 in the form of a simple convex lens. The optical system 7 is arranged in front of the detectors 4 for aligning the (received) light rays emanating from an object 9 in a certain way onto the individual detectors 4. Thus, light rays from a certain area in front of the detector arrangement 1, i.e. the so-called field of view (FOV) of the detector arrangement 1, are aligned to the detectors 4.

[0063] In the present example, the scanning device 1 further comprises a scanning module 11 having an actuator 13. The actuator 13 is connected with the carrier plate 5 (and, if necessary, with the optical system 7) such that the detector arrangement 3 and all its detectors 4 (and, if necessary, the associated optical system 7) can be rotated around a fixed axis of rotation RA. This leads to a circular scanning direction SR of the scanning device 1 being perpendicular to the image plane of Figure 1 .

[0064] Alternatively, the rotating scanning direction SR can also be obtained by, for example, not moving the detector arrangement 3 or its detectors 4, wherein the detector arrangement 3 or its detectors 4 are fixedly mounted and a rotatable imaging unit (not shown), in particular having a rotating mirror or a facet mirror wheel, is driven by the actuator 13.

[0065] It is to be noted that the optical system 7 can additionally or alternatively comprise other lenses and / or parabolic mirrors with respect to the schematically shown lens. A person skilled in the art is able to construct a suitable optical system 7 and / or imaging unit. Therefore, we do not go into further details here.

[0066] From Figure 1It can also be seen that the scanning module 11 or actuator 13 is connected, at least on the output side, to the additionally configured evaluation unit 15 of the scanning device 1. This also applies to the detector 4, which, for simplicity, is represented here by the connection between the carrier plate 5 and the evaluation unit 15. The evaluation unit 15 is designed to determine different information about the object 9 within the scanning range of the scanning device 1 based on the combined signals from the individual detectors 4, and in this example, also considering the motion signals from the actuator 13. The corresponding evaluation methods are well-known and will not be elaborated upon here.

[0067] It should be noted that the evaluation unit 15 can also be used as the control unit of the actuator 13, thus eliminating its dependence on the output signal of the scanning unit 11. Those skilled in the art will be able to conceive of different functional relationships. However, these are not directly related to the present invention.

[0068] Although no lighting fixtures are shown here for clarity, they may be included if necessary. Figure 1 The basic structure is supplemented with an illumination device. The corresponding illumination device is determined based on the specific design and operating principle of the detector device 3, and is used to illuminate the field of view of the detector device 3 as uniformly as possible, and if necessary, the entire scanning area of ​​the scanning device 1 as uniformly as possible. The specific implementation of the corresponding illumination device (with a corresponding optical system if necessary) depends on the specific design and operating principle of other components of the scanning device 1. However, the identification and implementation of these contents are within the capabilities of those skilled in the art, and therefore will not be elaborated upon herein.

[0069] The following text is based on Figure 2 and Figure 3 Two exemplary embodiments for forming a detector device 3 according to the scanning device 1 according to the present invention are described.

[0070] according to Figure 2 The first example shown illustrates that the detector device 3 of the scanning device 1 according to the present invention may include, for example, four different detector arrays 17, which are uniformly arranged on a common ring. In this example, the provided detector arrays 17 are four identical one-dimensional arrays of detectors 4. Each detector 4 may be a subarray, for example, composed of a CMOS sensor or an avalanche photodiode.

[0071] The first detector array 17 is arranged in the upper left of the circular ring, tilted with a first angle a1 about the horizontal radial axis of the circular ring (indicated by the dashed line). The second detector array 17 is arranged in the lower left of the circular ring, tilted with a second angle a2 about the horizontal radial axis of the circular ring. The third detector array 17 is arranged in the lower right of the circular ring, tilted with a third angle a3 about the horizontal radial axis of the circular ring. The fourth detector array 17 is arranged in the upper right of the circular ring, tilted with a fourth angle a4 about the horizontal radial axis of the circular ring. The four tilt angles a1 to a4 are identical in size to each other. Furthermore, it can be seen by careful observation (see in particular the upper and lower dashed lines) that the detector arrays 17 opposite each other (in this example with respect to the vertical direction) are arranged with a height offset to each other. Preferably, this height offset is smaller than the effective pixel height (with respect to the height transverse to the scan direction) of the provided detector arrays 17.

[0072] As Figure 2 further shown in the middle, the provided detector arrays 17 can cover the entire circular ring, for which each detector array 17 covers a respective sector of the circular ring, with minimal overlap between these sectors. Preferably, the width B of the thus defined circular ring is smaller than or equal to a fraction of half the inner diameter D i of the circular ring (i.e. the inner radius). Preferably, the so-called inner diameter D i is larger than half the outer diameter D a of the circular ring. Inside the circular ring a circuit board can be provided, which has components (not shown in the figures) different from the detector arrays 17.

[0073] The provided detector arrays 17 can be designed identically to each other or differently to each other. Preferably, each of the detector arrays 17 comprises a number of pixels or detectors 4 which is a power of two (e.g. 8, 16, 32, 64, etc.).

[0074] Figure 3 A second systemized example of a detector arrangement 3 for a respective scanning device 1 according to the application is shown for illustration.

[0075] Six detector arrays 17, which are designed identically to each other, are arranged on a common circular ring, each of the detector arrays 17 comprising eight linearly arranged pixels or detectors 4. Four of the detector arrays 17 are arranged next to each other along the left half of the circular ring, the other two of the detector arrays 17 being arranged only in the middle of the right half of the circular ring. A distance (see the dash-dotted line) is formed between the two right-arranged detector arrays 17. This distance (or height offset) is smaller than the effective pixel height (i.e. the height of the pixels in the projection of the pixels transverse to the scan direction). Thus, the two right-arranged detector arrays 17 are arranged with a respective height offset opposite each other with respect to their two left-arranged detector arrays 17.

[0076] In the example shown, the first angle al of the uppermost detector array 17 with respect to the horizontal radial axis of the detector device 3 corresponds to the fourth angle a4 of the lowermost detector array 17 with respect to the horizontal radial axis of the detector array 17. The further angles a2, a3, a5 and a6 of the other detector arrays with respect to the horizontal radial axis of the detector device 3, which at the same time indicates the set scan direction, are identical in size to each other, but different in size from the two further angles al and a4. This is mainly due to the fact that the different detector arrays have to be arranged on a common circular ring.

[0077] It is to be noted that it is not essential according to the present application that each of the set detector arrays 17 is mounted in the common circular ring such that the end portions of each of the set detector arrays 17 span the outer circumference of the common circular ring, while the central region of each of the set detector arrays 17 is tangential to the inner circumference of the common circular ring. Rather, on the other hand, only such designs are considered according to the present application, in which the different detector arrays 17 of the detector device 3 actually span a circular ring, as Figure 2 and Figure 3 shown. Such designs, in which the different detector arrays essentially span a rectangular or flat circular shape (in the broadest sense a circular ring with a negligible small inner diameter), are explicitly not considered according to the present application.

[0078] Furthermore, it is to be emphasized once again that a detector array refers to a component or module having a plurality of densely arranged detectors in combination, but not to a mere loose collection of a plurality of independent single detectors.

Claims

1. A scanning device (1), wherein the scanning device (1) comprises: The detector device (3) has a plurality of optical detectors (4); The scanning module (11) is designed to change the position and / or orientation of the field of view of the detector device (3) to define a corresponding scanning area; and Evaluation unit (15), the evaluation unit (15) is designed to obtain information about objects within the scanning range of the scanning device (1) based on the combined detection signals of the detectors (4). Its features are, The optical detectors (4) of the detector device (3) are designed in the form of at least two detector arrays (17) facing the same direction as each other, each detector array (17) having at least three linear, adjacent optical detectors (4). The detector array (17) is arranged on a common ring that extends perpendicular to the common orientation of the detector array (17).

2. The scanning device (1) according to claim 1, characterized in that, The scanning device (1) is a laser scanner.

3. The scanning device (1) according to claim 1, characterized in that, The detector array of the detector device is a one-dimensional array. Each of the detectors is designed as an unresolved subarray of CMOS sensors and / or avalanche photodiodes.

4. The scanning device (1) according to claim 1, characterized in that, Each of the one-dimensional arrays is located on a single semiconductor substrate.

5. The scanning device (1) according to claim 1, characterized in that, Each of the detector arrays (17) of the detector device (3) includes 16 to 128 pixels or the detector (4).

6. The scanning device (1) according to claim 5, characterized in that, Each of the detector arrays (17) of the detector device (3) includes 64 pixels or the detector (4).

7. The scanning device (1) according to claim 5, characterized in that, Each pixel or detector (4) has a length of several millimeters.

8. The scanning device (1) according to claim 7, characterized in that, The length of each pixel or detector (4) is between 1 mm and 20 mm.

9. The scanning device (1) according to claim 5, characterized in that, The outer diameter (D) of the common ring a () is several centimeters.

10. The scanning device (1) according to claim 9, characterized in that, The outer diameter (D) of the common ring a The diameter is between 1cm and 5cm.

11. The scanning device (1) according to claim 1, characterized in that, A circuit board is disposed inside the common ring of the detector array (17), the circuit board having electronic components different from those of the detector array (17).

12. The scanning device (1) according to claim 1, characterized in that, The detector array (17) of the detector device (3) is arranged on the common ring in such a way that the detector array (17) of the detector device (3) spans the entire outer diameter (D) of the common ring in at least one lateral projection of the common ring. a ).

13. The scanning device (1) according to claim 1, characterized in that, The detector device (3) includes two or more detector arrays (17) arranged on the common ring.

14. The scanning device (1) according to claim 13, characterized in that, The detector device (3) includes an even multiple of the detector array (17).

15. The scanning device (1) according to claim 14, characterized in that, The detector device (3) includes four, six, or eight corresponding detector arrays (17).

16. The scanning device (1) according to claim 1, characterized in that, The detector array (17) of the detector device (3) is arranged such that the width (B) of the common ring it traverses is less than or equal to the inner diameter (D) of the ring it traverses. i Half, one-third, one-quarter, and / or one-fifth; and / or The inner diameter (D) of the common ring spanned i ) is greater than the outer diameter (D) of the ring it spans a Half, two-thirds and / or five-sixths of ) 17. The scanning device (1) according to claim 1, characterized in that, The detector array (17) of the detector device (3) is uniformly arranged along at least half of the circumference of the common ring.

18. The scanning device (1) according to claim 17, characterized in that, The detector array (17) of the detector device (3) is uniformly arranged along the entire circumference of the common ring.

19. The scanning device (1) according to claim 1, characterized in that, At least two of the detector arrays (17) of the detector device (3) are arranged opposite each other with respect to the radial axis of the common ring.

20. The scanning device (1) according to claim 19, characterized in that, At least two of the detector arrays (17) of the detector device (3) are arranged with a height offset relative to the radial axis that is less than the effective pixel height transverse to the radial axis.

21. The scanning device (1) according to claim 1, characterized in that, The different detector arrays (17) of the detector device (3) span different sectors of the common ring. Different sectors traversed in this manner do not overlap or overlap only slightly, and / or define a closed loop.

22. The scanning device (1) according to claim 1, characterized in that, At least two of the detector arrays (17) are arranged at two different angles (α1 to α6) relative to at least one radial axis of the common ring.

23. The scanning device (1) according to claim 22, characterized in that, The two different angles (α1 to α6) differ from each other only in their signs relative to the radial axis.

24. The scanning device (1) according to claim 1, characterized in that, The scanning module (11) includes: at least one actuator (13) for directly moving the detector array (17) and / or imaging unit of the detector device (3); and at least one associated actuator for moving only the field of view of the detector array (3).

25. The scanning device (1) according to claim 24, characterized in that, The detector array (17) and / or the imaging unit have a rotating mirror or a faceted mirror wheel.

26. The scanning device (1) according to claim 24, characterized in that, The at least one associated actuator is used to periodically and substantially rotate the field of view of the detector array (3).

27. The scanning device (1) according to claim 1, characterized in that, The scanning device (1) includes an illumination device designed to illuminate the scanning area of ​​the scanning device (1). The illumination device is designed and / or equipped with a corresponding imaging unit so that the illumination device illuminates essentially only the field of view of the detector device (3).

28. The scanning device (1) according to claim 27, characterized in that, The lighting device includes at least one light emitter arranged to correspond to at least one of the detector arrays (17) and / or the common ring of the detector arrays (17) of the detector device (3).

29. The scanning device (1) according to claim 1, characterized in that, The scanning device (1) includes at least one optical system (7) having at least one lens and / or at least one parabolic mirror, or the optical system having exactly one lens and / or at least one parabolic mirror.

30. The scanning device (1) according to claim 29, characterized in that, The optical system (7) has at least one field stop array located between the optical system (7) and the detector device on the focal plane of the optical system (7).

Images