Scanning system and transmitting and receiving device for a scanning system

Abstract

Scanning system comprising a transmission and reception path (10, 12) with a transmitter (11, 14) and a receiver (13, 15) and a rotating scanning device (2), - wherein the transmitter (11, 14) emits radiation (3) which propagates along an optical axis on the transmission path (10), - wherein the radiation (7) received by the target object (4) is detected by the receiver (13, 15) on the reception path (12), - wherein the rotating scanning device (2) comprises an optics (30) and a rotating deflection unit (33), - wherein the rotating deflection unit (33) of the scanning device (2) deflects the radiation (3, 7) of the transmission and reception path (10, 12), - wherein the optics (30) comprises a first focusing device (31) and a rotating second focusing device (32), - wherein the movements of the rotating deflection unit (33) and the rotating second focusing device (32) are synchronous in order to ensure alignment of the deflected radiation (3) with the second focusing device (32), - wherein the first focusing device (31) focuses the radiation (3) emitted by the transmitter (11, 14) onto the rotating deflection unit (33), such that the beam diameter on the rotating deflection unit (33) is reduced by the focusing of the emitted radiation (3), - wherein the rotating deflection unit (33) deflects the radiation (3) onto the rotating second focusing device (32), - wherein the rotating second focusing device (32) collimates the radiation (3) towards the target object (4), - wherein the rotating second focusing device (32) focuses the radiation (7) received from the target object (4) onto the rotating deflection unit (33), such that the beam diameter on the rotating deflection unit (33) is reduced by the focusing of the emitted radiation (3), - wherein the rotating deflection unit (33) deflects the received radiation (7) to the receiver (13, 15), - characterized in that - the transmitting and receiving paths (10, 12) between the rotating deflection unit (33) and the rotating second focusing device (32) are decoupled in a second beam path (123, 125), - wherein the rotating second focusing device (32) has two converging lenses, the first converging lens (322) being located in the transmission path (10) and the second converging lens (321) being located in the reception path (12).

Description

[0001] The present invention relates to a scanning system comprising a transmission and reception path, a transmitter and a receiver, and a rotating scanning device. The invention further relates to a transmission device and a reception device for such a scanning system. State of the art

[0002] Such scanning systems are known from the state of the art and can be used, for example, in automotive LIDAR systems, building scanning systems or for capturing 3D geometries.

[0003] They are based on a light beam being emitted from a target object for scanning, and the light beam being reflected back from the target object to a receiver. From the signal propagation time and the speed of light, it is possible, for example, to determine the distance of the target object within the observation area.

[0004] Scanning systems can be based on various principles and, in particular, can be implemented with movable components. One distinguishing criterion in the design of the scanning system is whether the transmitting and receiving units are movable or fixed in one position. With a movable transmitting and receiving unit, an angular range of 360° can theoretically be covered. However, the disadvantage is that wireless power and data transmission to the rotating transmitting and receiving unit is required, which limits the data transmission bandwidth. Furthermore, such a configuration can have a negative impact on thermal management in the measuring head. Such a scanning system is known from US Pat. No. 7,969,558 B2.

[0005] If, however, the transmitting and receiving units are mounted statically, a target object can be scanned using a beam emitted by a transmitter via a rotating optical element, for example one or more mirrors, as described in DE 10 2010 047 984 A1. This rotating optical element enables scanning within a specific angular range, which is, however, limited by the diameter or length of the rotating element. For a grazing incidence of the transmitted or received radiation on the rotating element, this element must be selected with a relatively large diameter or length. Especially for deflection angles close to 180°, an increasing size of the rotating element is to be expected, since the size or diameter of the rotating element depends on the deflection angle and the beam diameter.For example, with a beam diameter of 10 mm and a maximum deflection angle of 140°, 10 mm / cos(140° / 2) = 29.8 mm results in a diameter of the rotating element of almost 30 mm. For a deflection angle of 160°, the theoretically calculated diameter would be 57.6 mm, almost twice that of the first calculation example.

[0006] If the diameter of the rotating element is chosen too small, this can lead to signal loss and incomplete deflection of the beam. This would also negatively impact the range of the scanning system. If the transmitted beam is redirected directly to the transmitting and receiving unit, shadowing effects must also be expected in this embodiment due to the static mounting of the transmitting and receiving units. However, it is advantageous that the data and power transmission between the transmitting and receiving units can be carried out using simple cabling, and that the thermal connection of the transmitter, for example, a pulsed or continuous-wave laser that emits electromagnetic radiation in the infrared range, is thus easier to implement.

[0007] Document JP 2009 294036 A represents the closest prior art according to the preamble. Other documents concerning the features of the scanning system with respect to the characterizing part are DE 20 2014 101550 U1 and JP H07 191142 A.

[0008] DE 101 39 237 A1 discloses a device with a detector element for receiving a light beam reflected from an object. DE 10 2006 027 063 A1 discloses a laser radar device based on the time-of-flight principle. DE 10 2008 013 906 A1 discloses an optical time-of-flight sensor for azimuth and elevation scanning. Disclosure of the invention

[0009] The object of the present invention is to further develop a scanning system in such a way that a space-saving design is possible and at the same time a large usable scanning angle range is achieved.

[0010] This object is achieved by a scanning system according to claim 1. Further advantageous embodiments of the invention are specified in the dependent claims.

[0011] According to the invention, a scanning system is proposed which has a transmission and reception path with a transmitter and a receiver and a rotating scanning device. The transmitter emits radiation which propagates along an optical axis on the transmission path towards the target object. The radiation received from the target object is detected by the receiver on the reception path. Furthermore, the rotating scanning device comprises an optical system and a rotating deflection unit which deflects the radiation of the transmission and reception path. It is provided that the optical system has a first focusing device and a rotating second focusing device. The movements of the rotating deflection unit and the rotating second focusing device are synchronous in order to ensure alignment of the deflected radiation with the second focusing device.Furthermore, the first focusing device images the radiation emitted by the transmitter onto the rotating deflection unit such that the beam diameter on the rotating deflection unit is reduced. The rotating deflection unit then redirects the emitted radiation onto the rotating second focusing device, which collimates the radiation toward the target object. Likewise, the rotating second focusing device images the radiation received from the target object onto the rotating deflection unit such that the beam diameter on the rotating deflection unit is reduced. The rotating deflection unit redirects the received radiation toward the receiver.

[0012] Focusing the beam emitted and received by the target object onto the rotating deflection unit enables a reduction in the beam diameter. This reduces the required diameter of the rotating deflection unit and enables a more compact design of the scanning system. Purely mathematically, a rotating deflection unit with a diameter of just 1 mm could then be used for deflection angles of up to approximately 179°. The solution according to the invention shows that, on the one hand, the usable angular range of the scanning system is increased and, on the other hand, a smaller deflection unit can be used for this purpose. Another advantage is that scanning can be carried out not only horizontally in one plane using the rotating deflection unit, but also vertically, thus enabling 3D geometries to be scanned.

[0013] According to one embodiment, the transmission and reception paths between the rotating deflection unit and the rotating second focusing device coincide in a second beam path. Furthermore, the rotating second focusing device has a converging lens that collimates the emitted radiation toward the target object and focuses the radiation received from the target object onto the rotating deflection unit.

[0014] The advantage of this configuration is that the converging lens serves as the output and receiving lens for the radiation and therefore no additional optical element is required to focus the received radiation.

[0015] Preferably, the transmission and reception paths between the rotating deflection unit and the rotating second focusing device are decoupled in a fifth beam path. Furthermore, the rotating second focusing device has two converging lenses. The first converging lens is located in the transmission path, and the second converging lens is located in the reception path.

[0016] By decoupling the two paths between the rotating deflection unit and the rotating second focusing device, the scanning system's susceptibility to crosstalk between the signals is reduced. This increases the system's reliability.

[0017] Preferably, the rotating deflection unit consists of two elements. The first element of the rotating deflection unit is located in the transmit path, and the second element is located in the receive path.

[0018] Preferably, the transmitter and receiver are arranged at right angles to each other. Furthermore, a beam splitter is provided between the rotating deflection unit and the transmitter and receiver to decouple the transmission and reception paths.

[0019] The spatial separation of the transmitter and receiver has a positive effect on possible shadowing effects and contributes to the stability of the system. If the received beam were deflected directly back to the transmitter, it could cause instabilities if part of the radiation hit the transmitter's output. Furthermore, the movement of the rotating deflection unit does not guarantee that the radiation actually hits a detection section on the transmitter. It is possible that it reaches the housing (shadowing). By using the beam splitter, the transmitter and receiver can be aligned with each other with little effort.

[0020] Preferably, the first focusing device comprises two converging lenses. The first converging lens is arranged in the transmission path, and the second converging lens is arranged in the reception path. Furthermore, the converging lens in the reception path focuses the radiation received from the target object onto the receiver.

[0021] Focusing reduces the beam diameter. This reduces shadowing effects and signal loss at the receiver. In the transmission path, focusing the emitted radiation onto the rotating deflection unit allows the use of a deflection unit with a smaller diameter. Furthermore, focusing offers the possibility of working in a deflection angle range close to 180°, while using the same optical components or an unchanged rotating deflection unit.

[0022] Preferably, the synchronization of the movements of the rotating deflection unit and the rotating second focusing device is carried out mechanically and / or by means of control technology by a coupling unit.

[0023] The type of synchronization allows the two rotation speeds to be advantageously coordinated without requiring manual intervention.

[0024] Preferably, the rotating deflection unit rotates at an angular velocity Ω1. The rotating second focusing device of the optics is also located in a rotating frame, which moves at an angular velocity Ω2 = 2Ω1.

[0025] Since the deflection angle after the rotating deflection unit is twice the tilt angle of the deflection unit, the angular velocities of the two rotating elements must have the relationship Ω2 = 2Ω1. The angular velocity of the rotating second focusing device must therefore be twice the angular velocity of the rotating deflection unit. By matching the angular velocities, correct alignment of the radiation deflected by the deflection unit to the rotating second focusing device can be ensured.

[0026] Preferably, the transmission device for a scanning system comprises a transmission path with a transmitter and a rotating scanning device. The transmitter emits radiation that propagates along an optical axis, and the rotating scanning device comprises an optical system and a rotating deflection unit. The rotating deflection unit of the scanning device deflects the emitted radiation. Furthermore, the optical system comprises a first focusing device and a rotating second focusing device. The movements of the rotating deflection unit and the rotating second focusing device occur synchronously to ensure alignment of the deflected radiation with the second focusing device. Furthermore, the first focusing device images the radiation emitted by the transmitter onto the rotating deflection unit in such a way that the beam diameter on the rotating deflection unit is reduced.The rotating deflection unit deflects the emitted radiation onto the rotating second focusing device, while the rotating second focusing device collimates the radiation towards the target object and thereby reduces the beam divergence of the radiation deflected by the rotating deflection unit.

[0027] Preferably, the receiving device for a scanning system comprises a receiving path with a receiver and a rotating scanning device. The receiver detects the radiation received from the target object on the receiving path, and the rotating scanning device comprises an optical system and a rotating deflection unit. Furthermore, the received radiation is deflected by the rotating deflection unit of the scanning device, and the optical system comprises a first focusing device and a rotating second focusing device. The movements of the rotating deflection unit and the rotating second focusing device are synchronous to ensure alignment of the deflected radiation with the second focusing device.

[0028] Furthermore, the rotating second focusing device images the radiation received from the target object onto the rotating deflection unit in such a way that the beam diameter is reduced and the rotating deflection unit deflects the radiation received from the target object and directs it to the receiver. Brief description of the characters

[0029] The above-described properties, features, and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more readily understood in connection with the following description of exemplary embodiments, which are explained in more detail in conjunction with the drawings. Fig. 1 is a schematic plan view of a scanning system having a transmit and receive path with a transmitter and receiver and a rotating scanning device; Fig. 2 a schematic top view of a scanning system with spatially separated transmitter and receiver, wherein the decoupling of the transmission and reception paths between the rotating deflection unit and the transmitter and the receiver is carried out with a beam splitter; Fig. 3 a schematic perspective view of a scanning system with decoupled transmit and receive paths between the rotating deflection unit and the rotating second focusing device; and Fig. 4 a schematic perspective view of a scanning system with a completely decoupled transmit and receive path by using a second element of the rotating deflection unit. Detailed description

[0030] The following figures describe embodiments of a scanning system for scanning 3D geometries. The system concept described here can be used, for example, in automotive LIDAR systems or building scanning systems. Such systems are based on the fact that a light beam is emitted from a target object for scanning and reflected back from the target object to a receiver. Furthermore, the signal propagation time and the speed of light make it possible to determine the distance of the target object within the observation area.

[0031] In Fig. 1 shows a first embodiment of a scanning system 1. The scanning system 1 comprises a transmitter 11, a receiver 13, and a rotating scanning device 2. The rotating scanning device 2 has an optics 30 and a rotating deflection unit 33. The optics 30 further comprises a first focusing device 31 with a first converging lens 310 and a rotating second focusing device 32 with a first converging lens 320. The rotating second focusing device is mounted in a rotating frame 5.

[0032] The transmitter 11, for example a pulsed laser and / or a laser operating in continuous wave mode and / or an alternative light source, etc., emits radiation 3, for example in the infrared range and / or UV range, etc., which propagates along an optical axis on a transmission path 10. The emitted radiation 3 is focused by the first converging lens 310 of the first focusing device 31 onto the rotating deflection unit 33. The rotating deflection unit 33 is mounted rotatably about a rotation axis 6 that protrudes from the plane of the drawing. By focusing the emitted radiation 3 using the first converging lens 310, it is possible to reduce the beam diameter of the emitted radiation 3 on the rotating deflection unit 33. A smaller beam diameter on the rotating deflection unit 33 allows the rotating deflection unit 33 to be adapted with a smaller diameter, thus saving installation space.The rotating deflection unit 33, for example, a flat mirror and / or a mirror with a different design and / or a prism and / or an alternative diffractive optical element, etc., deflects the emitted radiation 3 toward the rotating second focusing device 32 with the first converging lens 320. The converging lens 320 collimates the emitted radiation 3 toward the target object 4. Due to the deflection between the rotating deflection unit 33 and the converging lens 320, the emitted radiation 3 diverges significantly in this area. This divergence is undesirable, as the emitted power would otherwise be distributed over a very large solid angle. The converging lens 320 reduces the divergence of the emitted radiation 3.

[0033] Via a coupling unit 50, the movements of the rotating deflection unit 33 and the rotating second focusing device 32 can be synchronized with the converging lens 320 in order to be able to correctly align the emitted radiation 3 to the converging lens 320 at all times. The converging lens 320 can be moved along with the movement of the rotating deflection unit 33. Since the deflection angle after the rotating deflection unit 33 corresponds to twice the tilt angle of the rotating deflection unit 33, the rotational speed of the converging lens 320 must correspond to twice the rotational speed of the rotating deflection unit 33. The synchronization of these two movements takes place mechanically and / or by control technology via the coupling unit 50.

[0034] The transmit and receive path 10, 12 falls in the illustrated embodiment according to Fig. 1 between the first focusing device 31 and the rotating deflection unit, forming a first beam path 124. Likewise, the transmission and reception paths 10, 12 coincide between the rotating deflection unit 33 and the rotating second focusing device 32, forming a second beam path 121. The radiation 7 received from the target object 4 strikes the converging lens 320 in the reception path 12 and is focused by it onto the rotating deflection unit 33. The rotating deflection unit 33 deflects the received radiation 7 to the converging lens 310 of the first focusing device 31, which, if necessary—which is not explicitly shown in the illustration—focuses the received radiation onto the receiver 13.The receiver 13 may, for example, be an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), and / or a photomultiplier, and / or a CCD sensor, and / or an alternative photosensitive component with time resolution.

[0035] As an alternative to the use of converging lenses, any optical element capable of focusing or collimating radiation could be used.

[0036] In the illustrated embodiment, the transmitter 11 and the receiver 13 are integrated into a single unit. Alternatively, a spatial separation of the transmitter 11 and the receiver 13 would also be conceivable, although this is not shown in the figure.

[0037] The scanning method is independent of the vertical structure of the transmitted beam. For example, this can be a vertical line emitted in a single pulse and / or several superimposed points, possibly emitted at different times. The use of multiple transmitter and receiver modules next to and / or one above the other is therefore also conceivable. The modules generate additional radiation 3 to enlarge the vertical scanning range.

[0038] The radiation 3 emitted by the modules is then focused onto the rotating deflection unit 33 via one and / or more converging lenses. The rotating deflection unit 33 deflects the emitted radiation to one and / or more converging lenses coupled to the movement of the rotating deflection unit 33, which collimates the emitted radiation toward the target object 4. The radiation 7 received from the target object 4 is focused onto the rotating deflection unit 33 by one and / or more converging lenses coupled to the movement of the rotating deflection unit 33. The rotating deflection unit 33 then optionally deflects the received radiation 7 onto one and / or more converging lenses, which focus the received radiation 7 onto the receiving modules.

[0039] Fig. Figure 2 shows a further embodiment of a scanning system 1 with spatially separated transmitter 14 and receiver 15. The structure of the scanning system 1 in the figure shown is similar to the structure of the scanning system in Fig. 1. The reference symbols in Fig. 2 are unchanged from the reference numerals of Fig. 1 is selected if the components are of the same design. In the following, only the characteristics of Fig. 2, which relates to the characteristics in Fig. 1 distinguish.

[0040] In the embodiment according to Fig. 2, the transmitter 14 and the receiver 15 are arranged at right angles to each other. In a third beam path 100 between the first converging lens 312 of the first focusing device 31 and the rotating deflection unit 33, there is a beam splitter 34, for example, with a 50:50 intensity split, and / or with an alternative intensity split, and / or an alternative diffractive optical element, etc. The beam splitter 34 serves to decouple the transmission path 10 from the reception path 12 after the return path of the radiation 7 received from the target object 4 via the rotating deflection unit 33.

[0041] In the third beam path 100, only the portion of the radiation 3 emitted by the transmitter 14 that is transmitted by the beam splitter 34 is focused by the converging lens 312 onto the rotating deflection unit 33. The rotating deflection unit 33 deflects the emitted radiation 3 onto the converging lens 320 of the rotating second focusing device 32, wherein the converging lens 320 collimates the emitted radiation 3 toward the target object 4. The radiation 7 received from the target object 4 is focused by the converging lens 320 onto the rotating deflection unit 33. The rotating deflection unit 33 deflects the received radiation 7 onto the beam splitter 34. The beam splitter 34 then reflects the received radiation 7 onto a second converging lens 311 of the first focusing device 31, thus decouples the receiving path 12 from the transmitting path 10 in a fourth beam path 122. The converging lens 311 focuses the received radiation 7 onto the receiver 15.

[0042] The decoupling spatially separates the transmitter 14 and the receiver 15. This helps reduce the susceptibility of the scanning system 1 to crosstalk.

[0043] As an alternative to the illustrated embodiment, the converging lens 311 in front of the receiver 15 in the fourth beam path 122 can be omitted. Then, the received radiation 7 reaches the receiver 15 directly without focusing.

[0044] Another conceivable embodiment that decouples the transmitter 14 and the receiver 15 from each other consists in implementing the rotating deflection unit 33, for example, as a beam splitter with a 50:50 intensity split, and removing the beam splitter 34 from the third beam path 100 between the converging lens 312 and the rotating element 33. The rotating deflection unit 33 then reflects, on the one hand, the radiation 3 emitted by the transmitter 14 to the target object 4—with prior focusing of the radiation 3 by the converging lens 312 onto the rotating deflection unit 33 and subsequent collimation of the radiation 3 with the converging lens 320—and, on the other hand, the radiation 7 received by the target object 4 passes through the rotating deflection unit 33 and can then be focused onto the receiver 15 using the converging lens 311.

[0045] Fig. 3 shows a further embodiment of a scanning system 1 with decoupled transmit and receive paths 10, 12 between the rotating deflection unit 33 and the rotating second focusing device 32. The structure of the scanning system 1 in the figure shown is similar to the structure of the scanning system in Fig. 1. The reference symbols in Fig. 3 are unchanged from the reference numerals of Fig. 1 is selected if the components are of the same design. In the following, only the characteristics of Fig. 3 explains the characteristics in Fig. 1 distinguish.

[0046] As in Fig. 3, the rotating second focusing device 32 has a first converging lens 322, which is located in the transmission path 10 and collimates the radiation 3 emitted by the transmitter 11 toward the target object 4. Furthermore, the rotating second focusing device 32 comprises a second converging lens 321, which is located in the reception path 12 and focuses the radiation 7 received from the target object 4 onto the rotating deflection unit 33, offset from the emitted radiation 3. The converging lens 321 and the rotating deflection unit 33 form a fifth beam path 123. The second converging lens 321 of the rotating second focusing device 32 is mounted vertically above and / or below the first converging lens 322 in order to enable a separation of the transmission and reception paths 10, 12 via the fifth beam path 123.The second converging lens 321 is also located in the rotating frame - which is not included in the drawing - and can be carried along with the rotating deflection unit 33 and the first lens 322 via the coupling unit 50.

[0047] After the rotating deflection unit 33, the receiving path 12 again coincides with the transmitting path 10 to form the first beam path 124. In the illustrated embodiment, a refocusing of the received radiation 7 by the converging lens 310 onto the receiver 13 is not shown.

[0048] In this embodiment, an alternative arrangement between the transmitter 11 and the receiver 13 would also be conceivable. As in the embodiment according to Fig. 3, the transmitter 11 and the receiver 13 form an integrated unit. A spatial separation of the transmitter 11 and the receiver 13 could be achieved, for example, by using a beam splitter, for example with an intensity split of 50:50 between the converging lens 310 and the rotating deflection unit 33 - analogous to the embodiment according to Fig. 2 - is conceivable. The radiation 7 received from the target object 4 can then be focused on the fifth beam path 123, which is decoupled from the transmission path 10, onto the rotating deflection unit 33 and reflected to the beam splitter. Optionally, the received radiation 7 can be focused onto the spatially separated receiver 13 using a converging lens.

[0049] A further embodiment, which is shown in the schematic perspective view in Fig. 4 shows a scanning system 1 with completely decoupled transmit and receive paths 10, 12. The structure of the scanning system 1 in the figure shown is similar to the structure of the scanning system in Fig. 1. The reference symbols in Fig. 4 are unchanged from the reference numerals of Fig. 1 is selected if the components are of the same design. In the following, only the characteristics of Fig. 4 explains the characteristics in Fig. 1 distinguish.

[0050] As in Fig.4, the rotating deflection unit 33 has a first element 330, which is located in the transmission path 10, and a second element 331, which is located in the reception path 12. For example, the first element 330 of the rotating deflection unit 33 can be a first mirror that is manufactured flat, and / or a first mirror that has a different design, and / or a first prism, and / or a first alternative diffractive optical element, etc. The second element 331 of the rotating deflection unit 33 can be a second mirror that is manufactured flat, and / or a second mirror that has a different design, and / or a second prism, and / or a second alternative diffractive optical element.The second element 331 is mounted on the rotation axis 6 of the first element 330 vertically above and / or below the first element 330 and can be synchronized with the movement of the rotating second focusing device 32 via the coupling unit 50.

[0051] The radiation 7 received from the target object 4 is focused by the converging lens 321 onto the second element 331 of the rotating deflection unit 33, which deflects the received radiation 7 to the second converging lens 311 of the first focusing device 31. The converging lens 311 focuses the received radiation 7 onto the receiver 13. As a result, the receiving path 12 is completely optically decoupled from the transmitting path 10 in a sixth beam path 125, since the emitted radiation 3 of the transmitting path 10 propagates via the converging lens 312 of the first focusing device 31, the first element 330 of the rotating deflection device 33, and the converging lens 322 of the rotating second focusing device 32 toward the target object 4, and the received radiation 7 takes a separate sixth beam path 125 on the receiving path 12.

[0052] As an alternative to the illustrated embodiment, the converging lens 311 in front of the receiver 13 in the decoupled reception path 12 can be omitted. The received radiation 7 then reaches the receiver 13 directly without focusing. Due to the complete decoupling of the transmission and reception paths 10, 12, it would also be conceivable to arrange the transmitter 11 and the receiver 13 spatially separated from one another. The rotating frame in which the rotating second focusing device 32 is located is not shown in the embodiment.

[0053] Although the invention has been illustrated and described in detail by means of preferred embodiments, the invention is not limited by the disclosed examples and other variants can be derived therefrom by a person skilled in the art without departing from the scope of the invention.

Claims

[1] Scanning system comprising a transmission and reception path (10, 12) with a transmitter (11, 14) and a receiver (13, 15) and a rotating scanning device (2), - wherein the transmitter (11, 14) emits radiation (3) which propagates along an optical axis on the transmission path (10), - wherein the radiation (7) received by the target object (4) is detected by the receiver (13, 15) on the reception path (12), - wherein the rotating scanning device (2) comprises an optics (30) and a rotating deflection unit (33), - wherein the rotating deflection unit (33) of the scanning device (2) deflects the radiation (3, 7) of the transmission and reception path (10, 12), - wherein the optics (30) comprises a first focusing device (31) and a rotating second focusing device (32), - wherein the movements of the rotating deflection unit (33) and the rotating second focusing device (32) are synchronous in order to ensure alignment of the deflected radiation (3) with the second focusing device (32), - wherein the first focusing device (31) focuses the radiation (3) emitted by the transmitter (11, 14) onto the rotating deflection unit (33), such that the beam diameter on the rotating deflection unit (33) is reduced by the focusing of the emitted radiation (3), - wherein the rotating deflection unit (33) deflects the radiation (3) onto the rotating second focusing device (32), - wherein the rotating second focusing device (32) collimates the radiation (3) towards the target object (4), - wherein the rotating second focusing device (32) focuses the radiation (7) received from the target object (4) onto the rotating deflection unit (33), such that the beam diameter on the rotating deflection unit (33) is reduced by the focusing of the emitted radiation (3), - wherein the rotating deflection unit (33) deflects the received radiation (7) to the receiver (13, 15), - characterized by , that - the transmitting and receiving paths (10, 12) between the rotating deflection unit (33) and the rotating second focusing device (32) are decoupled in a second beam path (123, 125), - wherein the rotating second focusing device (32) has two converging lenses, the first converging lens (322) being located in the transmission path (10) and the second converging lens (321) being located in the reception path (12). [2] Scanning system according to claim 1, - wherein the rotating deflection unit (33) consists of two elements, - wherein the first element (330) of the rotating deflection unit (33) is located in the transmission path (10) and the second element (331) is located in the reception path (12). [3] Scanning system according to claim 1, - wherein the transmitting and receiving paths (10, 12) between the rotating deflection unit (33) and the rotating second focusing device (32) coincide in a first beam path (121), - wherein the rotating second focusing device (32) has a converging lens (320) which collimates the emitted radiation (3) towards the target object (4) and focuses the radiation (7) received from the target object (4) onto the rotating deflection unit (33). [4] Scanning system according to one of claims 1 to 3, - wherein the transmitter (14) and the receiver (15) are arranged at right angles to each other, - wherein a beam splitter (34) is provided for decoupling the transmission and reception paths (10, 12) between the rotating deflection unit (33) and the transmitter (14) and the receiver (15). [5] Scanning system according to one of claims 1 to 4, - wherein the first focusing device (31) has two converging lenses, - wherein the first converging lens (310, 312) is arranged in the transmission path (10) and the second converging lens (311) is arranged in the reception path (12), - wherein the converging lens (311) in the receiving path (12) focuses the radiation (7) received from the target object (4) onto the receiver (13, 15). [6] Scanning system according to one of claims 1 to 5, - wherein the synchronization of the movements of the rotating deflection unit (33) and the rotating second focusing device (32) is carried out mechanically and / or by control technology by a coupling unit (50). [7] Scanning system according to one of claims 1 to 6, - wherein the rotating deflection unit (33) rotates at an angular velocity Ω1 about a rotation axis (6) which projects out of a plane of the drawing, - wherein the rotating second focusing device (32) of the optics (30) is seated in a rotating frame (5) which moves at an angular velocity Ω2 = 2Ω1. [8] Transmitting device for a scanning system according to one of the preceding claims. [9] Receiving device for a scanning system according to one of the preceding claims.

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