OPTOELECTRONIC SENSOR AND METHOD FOR DETECTING AND DETERMINING THE DISTANCE OF OBJECTS

摘要

The invention relates to a laser scanner (10) for detecting, and determining the distance, of objects in a monitored area (20), comprising a light emitter (12) for emitting an emission light beam (16) having a plurality of successive individual light pulses, a rotatable deflection unit (18) for periodically deflecting the emission light beam (16) to the monitored area (20), an angle measuring unit (30) for generating angular position signals (62) depending on an angular position of the deflection unit (18), a light receiver (26) for generating received signals from the emission light (22) remitted or reflected by objects in the monitored area (20), a histogram memory (32a, 32b) having a plurality of memory cells, in each of which a segment of a received signal can be accumulated, and further comprising an evaluation unit (32), which is designed to identify a received pulse associated with an object in a histogram (110) taken from the histogram memory (32a, 32b), and based thereon to determine the distance of the object by means of a time of flight method, wherein the histogram (110) is collected over a time interval which is assigned to an angular position signal (62). At least two histogram memories (32a, 32b) are provided in order to collect a first histogram and a second histogram in overlapping time intervals.