Scanning device

Abstract

Scanning device (1), in particular laser scanner, wherein the scanning device (1) comprises: a detector arrangement (3) with a plurality of optical detectors (4); a scanning module (11) which is designed to vary the position and / or orientation of the field of view of the detector arrangement (3) in order to define a corresponding scanning area; and an evaluation unit (15) which is designed to obtain information on objects in the scanning area of ​​the scanning device (1) from the combined detection signals of the detectors (4) of the detector arrangement (3); characterized in that the optical detectors (4) of the detector arrangement (3) are designed in the form of at least two identically aligned detector arrays (17) each with at least three linearly arranged optical detectors (4) and said detector arrays (17) are arranged on a common circular ring which extends perpendicular to the common alignment of said detector arrays (17).

Description

[0001] The present invention relates to scanning devices, in particular laser scanners for periodically scanning a defined scanning or monitoring area.

[0002] Conventional scanning devices typically comprise a detector array with a plurality of optical detectors. In order to be able to scan a scanning area with such a scanning device that is larger and / or denser than the simple field of view of the detector array, it is known to provide a scanning module to vary the field of view of the detector array. For example, the scanning module can cause a rotation of the detector array. The resulting variation of the field of view relative to a fixed base of the scanning device defines a scanning area of ​​the scanning device. Finally, a further evaluation unit serves to obtain various information about objects within the scanning area from the combined detection signals (for example, in the form of a 3D point cloud) of the different detectors of the detector array. This information typically includes, in particular, distance information.Alternatively and / or in addition to this, it would also be conceivable to obtain other information on the surface properties, such as the colour, roughness and / or material, of objects in the scanning area of ​​the scanning device.

[0003] It is desirable to use the detector arrangement to capture information of the scan area as accurately as possible.

[0004] An object of the present invention is to provide a scanning device with a particularly efficient design of the detector arrangement with particularly fine scanning of the respective scanning area.

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

[0006] The scanning device according to the invention is characterized in that the optical detectors of the detector arrangement are designed as at least two separate, identically aligned detector arrays, each with at least three optical detectors arranged linearly next to one another. According to the invention, said detector arrays are arranged on a common circular ring extending perpendicular to the common alignment of said detector arrays.

[0007] The term "detector array" in this context refers to a combined module with a plurality of detectors, all aligned parallel to one another and arranged in a checkerboard pattern (or in series) on a common carrier plate. Typically, such a detector array has a common data output for all of its individual detectors. This can be preceded by an internal processing unit, which generates a combined output signal, particularly in digital form, from the individual detector signals. "Combined" means that the signals of the individual pixels can still be assigned to the respective pixels and are not summed. A pixel can consist of further subunits, whose signals, when summed, produce the pixel signal (e.g., an SiPM). The individual detectors of the detector array each define the detection signal of a pixel of the respective detector array.Typical pixel counts for such detector arrays are powers of two, such as 8, 16, 64, 128, 254. The length of such arrays is typically in the millimeter range for the intended application, while the outer diameter of the common annulus is typically in the centimeter range. With a corresponding scanning motion, it is not necessary to provide additional optical detectors within the common annulus. In particular, no additional optical detectors are provided within the common annulus. For example, a control board for the scanning device and / or the detector array and / or a lamp arrangement for illuminating the field of view of the detector array can be provided here.

[0008] The common alignment of the detector arrays is understood here as the common viewing direction of the individual detectors of the intended detector arrays. Fig. 1, this runs horizontally in the image plane, while in the Fig. 2 and Fig. 3 runs perpendicular to the image plane. The detector arrays each extend perpendicular to the said alignment.

[0009] The use of detector arrays enables particularly dense packing of the individual detectors in the detector array, thus minimizing the gap between the individual pixels of the detector array. The specific arrangement of these detector arrays on a common circular ring results in the individual detector arrays being positioned transversely at different angles relative to the scanning direction of the scanning device.

[0010] The scanning direction corresponds to the direction of an intended movement of the field of view of the detector array. The individual detector arrays can, as mentioned, be arranged obliquely to the scanning direction, for example at an angle between 20° and 70° to the scanning direction, preferably between 30° and 60°. Different detector arrays can be arranged parallel or orthogonally to one another (in plan view). This oblique positioning, particularly in combination with the particularly dense packing of the detectors in the form of the detector arrays, allows a seamlessly closed scanning area to be imaged in great detail, since more pixels can be arranged in the scanning direction than with an arrangement without an inclination to the scanning direction.

[0011] Thus, the inventive design differs both in terms of design and efficiency from designs with only a single large detector array, which is tilted at a specific angle to a scanning direction, and from designs in which a plurality of individual detectors are arranged along a circular line. Rather, the present invention is a special combination of individual aspects of these two approaches.

[0012] In particular, the scanning device is a laser scanner or a LIDAR (Light Detection and Ranging). The scanning device can comprise a light transmitter that emits transmitted light into the surroundings of the scanning device, wherein the transmitted light is reflected (e.g., remitted) by objects in the surroundings as received light. The received light can then be projected or imaged onto the detector array by the optics described herein. In particular, the scanning device is designed to determine distance information to the objects in the surroundings from a light travel time of the transmitted and / or received light.

[0013] The detector arrays of the detector arrangement are preferably 1D arrays of detectors, in particular each (i.e., per array) on a single semiconductor substrate. The individual detectors are preferably configured as unresolved subarrays of CMOS sensors and / or avalanche photodiodes.

[0014] Such designs can be packed particularly densely and thus provide a field of view with minimal distances between resolved regions. Unresolved subarrays are groups of detectors within a detector array that output a common detection signal. Specifically, each "detector" within a detector array can itself be a so-called "subarray" composed of individual sensors. As soon as at least one of these sensors detects a signal, the entire subarray outputs a corresponding detection signal. How many and / or which of the individual sensors detected the signal cannot necessarily be determined from the detection signal output by the subarray.

[0015] The detector arrays of the detector arrangement preferably each comprise 16 to 128, for example 64, pixels or detectors, each in particular with a length of a few millimeters, in particular 1 mm to 20 mm. The outer diameter of the common circular ring is preferably a few centimeters, in particular 1 cm to 5 cm.

[0016] The number of pixels in the detector arrays corresponds to the number of resolved detectors in the detector array. In the above-described configuration with subarrays of CMOS sensors or avalanche photodiodes, the number of pixels therefore corresponds to the number of subarrays of CMOS sensors or avalanche photodiodes, and not the product of the number of planned subarrays of CMOS sensors or avalanche photodiodes and the number of individual CMOS sensors or avalanche photodiodes per subarray. Such configurations are particularly compact yet deliver high resolution.

[0017] Preferably, a circuit board is provided within the common circular ring of the detector arrays, which circuit board comprises electronic components, in particular a control unit, evaluation unit and / or a lighting arrangement, which are different from the detector arrays described.

[0018] This enables a particularly compact overall design of the sensor unit with sufficiently high resolution.

[0019] Preferably, the detector arrays of the detector arrangement 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 transverse projection of the common circular ring.

[0020] In other words, the detector arrays are arranged in such a way that they cover the entire width of the annulus in the plane of the annulus. This enables particularly compact overall designs of the detector array and thus of the entire scanning device.

[0021] Preferably, the detector arrangement comprises more than two detector arrays, in particular an even multiple of detector arrays, such as four, six or eight corresponding detector arrays, which are arranged on the common circular ring.

[0022] This enables the formation of a particularly narrow common circular ring and thus particularly compact overall designs. Furthermore, a further improved resolution can be achieved across the plurality of detector arrays if the corresponding detector arrays are arranged transversely to a designated scanning direction at opposite sections of the common circular ring with a suitable height offset. In particular, this height offset amounts to half the height of a detector or pixel transversely to the designated scanning direction. For example, two detector arrays arranged in parallel (in plan view) can be arranged such that two detectors or pixels orthogonally opposite one another with respect to the circular ring are shifted from one another by the size of half a detector or pixel.

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

[0024] Corresponding designs allow a particularly compact design with sufficiently high resolution.

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

[0026] This enables maximum resolution with minimal size of the detector array and thus the scanning device.

[0027] Preferably, at least two detector arrays of the detector arrangement are arranged opposite one another relative to a radial axis of the common circular ring, but with respect to said radial axis, in particular at a height offset which is smaller than the effective pixel height transverse to this radial axis.

[0028] This enables particularly high resolution with a certain degree of redundancy for identifying and / or correcting individual pixel errors in the opposing detector arrays. The radial axis is preferably aligned parallel to the intended scanning direction of the scanning device.

[0029] Preferably, the different detector arrays of the detector arrangement are spanned over different sectors of the common circular ring. The different sectors spanned in this way preferably do not overlap or do not overlap significantly. Preferably, the individual sectors together define a closed circular ring.

[0030] A non-significant overlap is defined as an overlap less than or equal to the size of a single pixel of the respective detector arrays. Such configurations allow for particularly high resolution with minimal spatial dimensions.

[0031] Preferably, at least two of the detector arrays are arranged at two different angles relative to at least one radial axis of the common circular ring, wherein the two different angles differ from each other in relation to said radial axis, in particular only in their sign.

[0032] The different orientations of the detector arrays enable the implementation of a particularly compact detector arrangement with a minimal width of the common annulus. The fact that two corresponding angles differ only in their sign makes it possible to ensure that both sensor arrays have the same resolution perpendicular to the scan direction when scanning along the aforementioned radial axis. This facilitates the combined evaluation of the detection signals from the respective detector arrays.

[0033] Preferably, the scanning module comprises at least one actuator for directly moving the detector arrays of the detector arrangement and / or an imaging unit, in particular with a rotating mirror or a facet mirror wheel, as well as at least one associated actuator for only moving the field of view of the detector arrangement, in particular periodically and in particular substantially rotationally.

[0034] Such designs must be particularly compact and reliable.

[0035] The scanning device preferably comprises a lighting arrangement configured to illuminate the scanning area of ​​the scanning device. The lighting arrangement is preferably configured and / or equipped with an associated imaging unit such that it essentially only illuminates the field of view of the detector arrangement.

[0036] This enables particularly efficient, targeted illumination of the scanning area or the field of view of the detector array. This, in turn, enables improved resolution with sufficient eye safety by avoiding or at least reducing unnecessary illumination of areas beyond the scanning area of ​​the scanning device or even beyond the field of view of the detector array.

[0037] Preferably, the illuminant arrangement comprises at least one illuminant which is arranged corresponding to at least one of the provided detector arrays and / or the common annulus of the detector arrays of the detector arrangement.

[0038] For example, the scanning device can comprise a light source that emits light in a circular ring that is concentric with the common circular ring of the detector arrays. The light source arrangement could also comprise, for example, a plurality of light source arrays, at least one of which is aligned at least parallel to at least one associated detector array of the detector array. Alternatively, a light source arrangement is also possible, for example, which illuminates essentially the entire scanning area or essentially only an area that spans the field of view of the detector array. Appropriately focused illumination enables energy savings and makes it easier to ensure compliance with eye safety requirements for the ultimately formed scanning device by reducing the total illuminance provided.

[0039] The scanning device preferably comprises at least one optical system, in particular with at least, alternatively in particular precisely, one lens and / or at least one parabolic mirror. In particular, at least one field diaphragm array is positioned between the optical system (7) and the detector arrangement in the focal plane of the optical system (7).

[0040] Appropriate optics enable targeted guidance of outgoing and incoming light beams within the scanning device, thus enabling particularly compact and efficient overall designs for the scanning device. If a lighting arrangement is provided, common and / or separate optics can be provided for this and for the detector arrangement, depending on the spatial configuration. Preferably, the provided optics only produces a sharp image on a circular ring. This sharply imaged circular ring preferably comprises or corresponds to the common circular ring of the detector arrays. The field diaphragm array preferably comprises a separate opening for each individual pixel or detector of the detector arrangement. Preferably, said openings are each arranged exactly centrally above the corresponding pixel or detector. This enables better subdivision of the field of view of the detector arrangement and separation of the respective input signals.

[0041] Using an optical system that focuses only on one circular ring provides the advantage of a simple and cost-effective optical system. Preferably, the common circular ring lies at least partially or completely within the sharply imaged circular ring, ensuring a sharp image on the detector arrays. Blurred imaging or projection can occur inside and outside the common circular ring.

[0042] The invention is described below purely by way of example with reference to the drawings. It shows: Fig. 1 schematically shows the structure of an exemplary scanning device according to the present invention; Fig. 2 schematically shows a front view of a first exemplary detector arrangement of a scanning device according to the present invention; and Fig. 3 schematically shows a front view of a second exemplary detector arrangement of a scanning device according to the present invention.

[0043] Accordingly Fig. 1, an exemplary scanning device 1 according to the present invention comprises a detector array 3 with a plurality of detectors 4, which are mounted on a common support plate 5. The detectors 4 are all aligned perpendicular to the support plate 5. The scanning device 1 comprises a light transmitter (not shown) which emits light into the surroundings of the scanning device 1. The scanning device 1 also comprises an optics 7 in the form of a simple convex lens. This optics 7 is connected upstream of the detectors 4 in order to direct (received) light emanating from an object 9 in a specific manner onto the individual detectors 4. As a result, light from a specific area in front of the detector array 1, its so-called field of view (FOV), is directed onto the detectors 4.

[0044] In the present example, the scanning device 1 further comprises a scanning module 11 with an actuator 13. The actuator 13 is coupled to the carrier plate 5 (and optionally the optics 7) in such a way that it can rotate the detector arrangement 3 with all its detectors 4 (and optionally the associated optics 7) around a fixed rotation axis RA. This results in a circular scanning direction SR perpendicular to the image plane of the Fig. 1.

[0045] Alternatively, a rotational scanning direction SR could also be obtained, for example, by not moving the detector arrangement 3 or its detectors 4, but rather by fixedly mounting them and driving a rotatable imaging unit (not shown), in particular with a rotating mirror or a facet mirror wheel, by the actuator 13.

[0046] It should be noted that the optics 7 may comprise other lenses and / or parabolic mirrors in addition to or as an alternative to the purely schematically illustrated lens. Forming suitable optics 7 and / or imaging units is within the capabilities of a person skilled in the art. Therefore, we will not go into further detail here.

[0047] How Fig. 1, the scanning module 11 or the actuator 13 is connected, at least on the output side, to a further evaluation unit 15 of the scanning device 1. The same applies to the detectors 4, which, for the sake of simplicity, is represented here by the connection of the carrier plate 5 to the evaluation unit 15. The evaluation unit 15 is designed to determine different information about objects 9 within the scanning range of the scanning device 1 from the combined signals of the individual detectors 4 and, in this case, taking into account a movement signal from the actuator 13. Corresponding evaluation methods are well known and will not be discussed further here.

[0048] At this point, it should be noted that the evaluation unit 15 can also simultaneously function as a control unit for the actuator 13 and therefore does not have to rely on an output signal from the scanning unit 11. A person skilled in the art will be able to devise a wide variety of possible interactions. However, these are not directly relevant to the present invention.

[0049] Even if, for the sake of clarity, we have omitted to show a lamp arrangement, it is possible to illustrate the basic structure of the Fig. 1 if necessary. A corresponding illuminant arrangement is coordinated with the specific design and function of the detector arrangement 3 and serves to illuminate at least the field of view of the detector arrangement 3, and possibly also the entire scanning area of ​​the scanning device 1, as evenly as possible. Options for the concrete implementation of a corresponding illuminant arrangement, possibly with corresponding optics, depend on the specific design and function of the other components of the scanning device 1. However, the identification and implementation of such arrangements is within the capabilities of a person skilled in the art and will therefore not be discussed further here.

[0050] In the following, the Fig. 2 and Fig. 3 describes two exemplary embodiments of detector arrangements 3 for forming scanning devices 1 according to the invention.

[0051] According to the first example of Fig. 2, a detector arrangement 3 in a scanning device 1 according to the invention can, for example, comprise four different detector arrays 17, which are arranged uniformly on a common circular ring. In the present example, the provided detector arrays 17 are four identically designed 1D arrays of detectors 4. Each of the detectors 4 can be a subarray, for example, consisting of CMOS sensors or avalanche photodiodes.

[0052] A first detector array 17 is provided at the top left of the circular ring and is tilted at a first angle α1 with respect to a horizontal radial axis (shown in dashed lines) of the circular ring. A second detector array 17 is provided at the bottom left of the circular ring and is tilted at a second angle α2 with respect to the horizontal radial axis of the circular ring. A third detector array 17 is provided at the bottom right of the circular ring and is tilted at a third angle α3 with respect to the horizontal radial axis of the circular ring. The fourth detector array 17 is provided at the top right of the circular ring and is tilted at a fourth angle α4 with respect to the horizontal radial axis of the circular ring. The four tilt angles α1 to α4 are identical to one another in terms of their magnitude.Furthermore, upon closer inspection (see especially the dotted lines above and below), it can be seen that opposing detector arrays 17 (in this case with respect to the vertical) are arranged with a height offset from one another. The height offset is preferably smaller than the effective pixel height (relative to the height, which is particularly transverse to the scanning direction) of the provided detector arrays 17.

[0053] As in Fig. As further shown in Figure 2, the detector arrays 17 provided can encompass the entire circular ring and, for this purpose, each cover separate sectors of the circular ring, which overlap only insignificantly. The width B of the circular ring thus defined is preferably less than or equal to a fraction of half the inner diameter D. i (i.e. the inner radius) of the circular ring. The said inner diameter D i is preferably larger than half the outer diameter D aof the circular ring. A circuit board with components (not shown) that are different from the detector arrays 17 may be provided inside the circular ring.

[0054] The provided detector arrays 17 can be identical to one another or different from one another. Preferably, they each comprise a number of pixels or detectors 4 that are powers of two (such as 8, 16, 32, 64, etc.).

[0055] In Fig. 3 shows a second systematic example for specifying the detector arrangement 3 of a corresponding scanning device 1 according to the invention.

[0056] There, six identically designed detector arrays 17, each with eight linearly arranged pixels or detectors 4, are arranged on a common circular ring. Four of the provided detector arrays 17 are arranged adjacent to one another along the left half of the circular ring, while two further detector arrays 17 are arranged only in a central section of the right half of the circular ring. A distance is formed between the two detector arrays 17 arranged on the right (see the dotted lines). This distance (or height offset) is smaller than the effective pixel height (i.e., the height of the pixels in their projection perpendicular to the scanning direction). The two right-hand detector arrays 17 are thus arranged opposite one another with respect to their counterparts arranged on the left, but with a corresponding height offset.

[0057] In the example shown, a first angle α1 of the uppermost detector array 17 relative to the horizontal radial axis of the detector arrangement 3 corresponds to a fourth angle α4 of the lowermost detector array 17 relative to the horizontal radial axis of the detector arrangement 17. The further angles α2, α3, α5, and α6 of the remaining detector arrays relative to the horizontal radial axis of the detector arrangement (which simultaneously indicates the intended scanning direction) are identical in magnitude to one another, but different from the other two angles α1 and α4. This results not least from the requirement that the different detector arrays must be arranged on the common circular ring.

[0058] At this point, it should be noted that according to the invention, it is not necessary for each of the provided detector arrays 17 to be fitted into the common circular ring in such a way that its ends span the outer circumference of the common circular ring, while its central region lies tangentially against the inner circumference of the common circular ring. On the other hand, however, only those embodiments are to be considered according to the invention in which the different detector arrays 17 of the detector arrangement 3 actually span a circular ring, as is the case in the two Fig. 2 and Fig. 3 is shown by way of example. Embodiments in which different detector arrays essentially span a rectangle or a flat circle (in the broadest sense, a circular ring with a negligibly small inner diameter) are expressly not to be considered in accordance with the invention.

[0059] Furthermore, it is emphasized again that the term detector array refers to a combined component or module with a plurality of densely packed detectors and not merely a loose collection of several independent individual detectors. List of reference symbols 1 scanning device 3 Detector arrangement 4 Detector 5 Carrier plate 7 Optics / Lens 9 Object 11 Scan module 13 Actuator 15 Evaluation unit 17 detector array B Width of the circular ring D a Inner diameter of the circular ring D i Outer diameter of the circular ring RA rotation axis SR scan direction

Claims

[1] Scanning device (1), in particular laser scanner, wherein the scanning device (1) comprises: a detector arrangement (3) with a plurality of optical detectors (4); a scanning module (11) which is designed to vary the position and / or orientation of the field of view of the detector arrangement (3) in order to define a corresponding scanning area; and an evaluation unit (15) which is designed to obtain information on objects in the scanning area of ​​the scanning device (1) from the combined detection signals of the detectors (4) of the detector arrangement (3); characterized by , that the optical detectors (4) of the detector arrangement (3) are designed in the form of at least two identically aligned detector arrays (17) each with at least three linearly arranged optical detectors (4) and said detector arrays (17) are arranged on a common circular ring which extends perpendicular to the common alignment of said detector arrays (17). [2] Scanning device according to claim 1, wherein the detector arrays of the detector arrangement are 1D arrays, in particular each on a single semiconductor substrate, wherein the individual detectors are designed in particular in the form of unresolved subarrays of CMOS sensors and / or avalanche photodiodes. [3] Scanning device (1) according to claim 1 or 2, wherein the detector arrays (17) of the detector arrangement (3) each comprise 16 to 128, for example 64, pixels or detectors (4), each in particular with a length of a few millimeters, for example from 1 mm to 20 mm, where the outer diameter (D a ) of the common circular ring is preferably a few centimeters, in particular 1cm to 5cm. [4] Scanning device (1) according to one of the preceding claims, wherein a circuit board is provided within the common annulus of the detector arrays (17), which circuit board comprises electronic components which are different from the detector arrays (17). [5] Scanning device (1) according to one of the preceding claims, wherein the detector arrays (17) of the detector arrangement (3) are arranged on the common circular ring in such a way that, in at least one transverse projection of the common circular ring, they cover the entire outer diameter (D a ) span. [6] Scanning device (1) according to one of the preceding claims, wherein the detector arrangement (3) comprises more than two detector arrays (17), in particular an even multiple of detector arrays (17), such as four, six or eight corresponding detector arrays (17), which are arranged on the common annulus. [7] Scanning device (1) according to one of the preceding claims, wherein the detector arrays (17) of the detector arrangement (3) are arranged such that the width (B) of the spanned common circular ring is less than or equal to half, one third, one quarter and / or one fifth of half the inner diameter (D i ) of the spanned circular ring; and / or the inner diameter (D i ) of the spanned common circular ring is greater than half, two thirds and / or five sixths of the outer diameter (D a ) of the spanned circular ring. [8] Scanning device (1) according to one of the preceding claims, wherein the detector arrays (17) of the detector arrangement (3) are arranged uniformly along at least one half of the circumference of the common annulus, in particular along the entire circumference of the common annulus. [9] Scanning device (1) according to one of the preceding claims, wherein at least two detector arrays (17) of the detector arrangement (3) are arranged opposite one another relative to a radial axis of the common annulus, but in particular with respect to said radial axis at a height offset which is smaller than the effective pixel height transverse to this radial axis. [10] Scanning device (1) according to one of the preceding claims, wherein the different detector arrays (17) of the detector arrangement (3) are spanned over different sectors of the common circular ring, whereby the different sectors spanned in this way do not overlap or do not overlap significantly and / or define a closed circular ring. [11] Scanning device (1) according to one of the preceding claims, wherein at least two detector arrays (17) are arranged at two different angles (α1 to α6) with respect to at least one radial axis of the common circular ring, wherein the two different angles (α1 to α6) differ from one another with respect to said radial axis, in particular only in their sign. [12] Scanning device (1) according to one of the preceding claims, wherein the scanning module (11) comprises at least one actuator (13) for directly moving the detector arrays (17) of the detector arrangement (3) and / or an imaging unit, in particular with a rotating mirror or a facet mirror wheel, and at least one associated actuator in order to move only the field of view of the detector arrangement (3), in particular periodically and in particular substantially rotationally. [13] Scanning device (1) according to one of the preceding claims, wherein the scanning device (1) comprises a lighting arrangement which is designed to illuminate the scanning area of ​​the scanning device (1), wherein the illuminant arrangement is designed and / or equipped with an associated imaging unit such that it essentially only illuminates the field of view of the detector arrangement (3). [14] Scanning device (1) according to claim 13, wherein the illuminant arrangement comprises at least one illuminant which is arranged corresponding to at least one of the provided detector arrays (17) and / or the common annulus of the detector arrays (17) of the detector arrangement (3). [15] Scanning device (1) according to one of the preceding claims, comprising at least one optic (7), in particular with at least, in particular precisely, one lens and / or at least one parabolic mirror and in particular at least one field diaphragm array which is positioned between the optic (7) and the detector arrangement in the focal plane of the optic (7).

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