DE102018113244B3 - Method and apparatus for measuring vibrations of an object using a drone - Google Patents

Abstract

For measuring vibrations of a large object (2), a interrogation beam (5) from a base station (7) in a forward direction (8) is directed to a beam deflection unit (9). The scanning beam (5) is deflected by the beam deflecting unit (9) in a measuring direction (10) so that the interrogating beam (5) strikes a region (3) of the object (2) in the measuring direction (10). A portion of the interrogation beam (5) reflected by the area (3) of the object (2) opposite to the measuring direction (10) is deflected by the beam deflecting unit (9) in a reverse direction (11) opposite the forward direction (8), so that the distance from The portion (3) of the object (2) which is reflected counter to the measuring direction (10) reaches the portion of the interrogation beam (5) which is reflected back to the base station as a measuring signal (12). In the base station, the measuring signal (12) is analyzed with regard to the vibrations of the region (3) of the object (2) in the measuring direction (10). In order to be able to measure the oscillations of very large objects (2), the beam deflecting unit (9) is mounted on an unmanned flying object (13) and directed to the beam deflecting unit (9) when the base station (7) supported by the base (21) is deflected Query beam (5) with the unmanned flying object (13) flown.

Description

TECHNICAL FIELD OF THE INVENTION

The invention relates to a method and apparatus for measuring vibrations of an object. In particular, the invention relates to a method for measuring vibrations of an object having the features of the preamble of independent claim 1 and an apparatus for carrying out such a method having the features of the preamble of patent claim 8.

STATE OF THE ART

For the non-contact measurement of vibrations of a surface of an object in the low to medium frequency range laser Doppler vibrometer (LDV) are known. These interferometric measuring systems detect the vibrations of a region of an object in the direction of a laser beam directed onto the region. In order to be able to measure over a large area, these measuring systems are equipped with a beam deflection unit, a so-called laser scanning unit (LSU). As a rule, the beam deflecting unit has at least one mirror which deflects and pivots the laser beam and permits the automatic scanning of a surface of the object. In known Strahlumlenkeinheiten the scanning of the surface takes place starting from a fixed pivot point of the mirror in the direction of two solid angles.

The EP 2 515 073 A2 discloses a method and apparatus for arranging a laser Doppler vibrometer during scanning. In this case, a Strahlumlenkeinheit is arranged in a fixed arrangement to the object to be scanned.

This known method and apparatus, as well as other commercially available beam deflecting LDVs, are not well-suited for measuring vibrations of larger objects, such as structures, when scanning a large object in the direction of two solid angles from a fixed point give flat angles between the incident laser beam and the surface of the object, which can be avoided only by a very large distance to the object. In addition, the respective device remote surfaces of the object with the laser beam are often not accessible.

To address these problems, an LDV must be implemented more frequently with a beam redirecting unit that scans a surface of a large object in the direction of two solid angles from a fixed point.

One known commercially available solution to this problem is industrial test benches equipped with robotic arms for reacting the LDV with the beam deflecting unit. These systems are extremely expensive, usually fixed in one place and can not be used for very large vibrating objects such as structures.

US 2007/0 175 283 A1 discloses a system and a method for measuring vibrations of an object having the features of the preambles of the independent patent claims. At the respective object whose vibrations are to be measured, a reflective mark is attached. An optical module spaced from the object emits an electromagnetic beam toward the reflective marker and receives the reflected beam. The optics module demodulates the reflected beam to measure the vibrations of the object. The optics module can be pivoted about different axes in order to align the electromagnetic beam with the reflective marking. The optical module can be mounted on rails to move it linearly. Furthermore, a separate beam deflector may be used to direct the electromagnetic beam and the reflected beam around an obstacle. The beam deflector may comprise a vibration isolation unit and a remote rotation unit for changing its deflection angle.

From the EP 2 511 658 A1 For example, a geodetic surveying system and a method for determining the new point are known. A known absolute position of a reference point is defined by a reference component. At least one new point determination component derives a relative new point position. Furthermore, mutual relative reference information between the reference component and the at least one new point determination component can be derived, in particular for the purpose of referencing the reference point position. The reference component is carried by an auto-mobile, unmanned, controllable aircraft, so that the at least one reference point is provided as a mobile reference point. The aircraft is designed such that the reference component is spatially freely displaceable and in particular substantially positionally fixed positionable.

From the DE 10 2010 033 951 A1 An arrangement for the multi-dimensional measurement of vibrations of an object is known. The arrangement comprises a vibrometer and two deflection units, by means of which a measuring beam of the vibrometer is deflectable. When operating the arrangement of the measuring beam of the vibrometer with the first Deflection unit deflected in two first spatial directions, whereupon at least one measuring beam of a first spatial direction is deflected a second time such that a measuring point of an object from a first spatial direction and a second spatial direction or two second spatial directions is detected. In this case, the movement components to be examined are contained in the measurement signals, which are obtained along the two spatial directions.

From the EP 2 511 656 A1 is a surveying system for determining 3D coordinates of measuring points of an object surface known. The surveying system has a scanning device for the pointwise measurement of the measuring points of the object surface and for the determination of inner measuring point coordinates in an inner scanning coordinate system. Furthermore, a referencing arrangement for generating referencing information in the form of an outer surveying position and a surveying orientation of the scanning device for referencing the inner measuring point coordinates in the outer object coordinate system is provided. The scanning device is carried by an unmanned, controllable, automotive aircraft, which is floating aligned and movable.

From the EP 2 511 659 A1 is a geodetic marker system for marking a known target point with an auto-mobile, unmanned, remotely controllable target unit and with a geodetic position determination arrangement for determining the external actual position of the target unit known. The target unit is designed in such a way that it can be positioned largely fixed in position at least temporarily. Furthermore, the destination unit carries a marking unit for marking the destination. A control unit of the marking system is configured such that, depending on the outer actual position and a known target point position of the target point, the target unit can be positioned in a defined desired position relative to the target point position. Furthermore, the control unit is configured such that, taking into account the actual position, the desired position and a defined marking direction from the marking unit to the target point, the marking unit for marking the target point is controllable, so that the target point in the defined marking direction can be marked with geodetic accuracy ,

US 2015/0 116 693 A1 discloses a three-dimensional measurement and monitoring system comprising a base unit installed at a known point and at least one movable measuring device having a prism for retroreflecting light for distance measurement and tracking light projected by the base station , having. The movable measuring device has an auxiliary measuring unit for measuring distances and angles of an object to be measured. By means of the movable measuring device, a three-dimensional measurement of the respective object relative to the base station can also take place in areas which are hidden for the base station. The movable measuring device can be flown, for example, with an unmanned flying object and thus positioned with respect to the object to be measured.

OBJECT OF THE INVENTION

The invention has for its object to provide a method having the features of the preamble of independent claim 1 and an apparatus having the features of the preamble of claim 8, with which also oscillations of remote areas of very large objects, such as buildings, are measurable.

SOLUTION

The object of the invention is achieved by a method having the features of independent patent claim 1 and by a device having the features of patent claim 8. Preferred embodiments of the invention of the method and the device according to the invention are defined in the dependent claims.

DESCRIPTION OF THE INVENTION

In a method of measuring vibrations of an object according to the present invention, in which a scanning beam from a base station is directed in a forward direction to a beam deflecting unit in which the scanning beam is deflected by the beam deflecting unit in a measuring direction so that the scanning beam in the measuring direction is directed to an area of the object, in which a portion of the interrogation beam reflected from the area of the object against the measuring direction is deflected by the beam deflecting unit in a reverse direction opposite the forward direction, so that the portion of the interrogation beam reflected from the area of the object counter to the measuring direction returns as the measurement signal the base station is reached, and in which the portion of the interrogation beam in the base station reflected from the area of the object opposite to the measuring direction is analyzed with respect to the vibrations of the area of the object, the beam deflection unit is operated on an unbeman stored flying object and when deflecting the directed from the ground-based base station on the Strahlumlenkeinheit polling beam with the unmanned aerial object flown.

The Strahlumlenkeinheit is largely free in space by its storage on the unmanned aerial object with the help of the unmanned aerial object positionable. In particular, the beam deflection unit can be positioned so that vibrations of very large objects and of remote areas of such large objects, which would not be accessible with the aid of a beam deflection unit supported on the ground, can be measured. With the unmanned flying object, the beam deflection unit can be positioned such that the interrogation beam strikes the surface of the object in the respective area at an approximately right angle or in a specific direction in which the oscillations of the object are of interest, and by flying the Strahlumlenkeinheit over the respective object, the object can be scanned over a large area with respect to vibrations of its surface.

Under an unmanned flying object is here in particular an unmanned flying object to understand, which is suitable for a flight with very low speeds over ground and preferably also to a hover. Such unmanned aerial vehicles often have multiple rotors with vertical rotor axes. The unmanned flying objects suitable for carrying out the present invention are often referred to as drones or UAV (Unmanned Aerial Vehicle). However, these generic terms also refer to unmanned flying objects which are not necessarily suitable for flying at very low speeds over ground or even to a hover.

With the method according to the invention, the oscillations of the object are selectively detected in the measuring direction in which the interrogating beam strikes the object in the respective area, since the measuring signal only contains information about this component of the oscillations. By simultaneously measuring the vibrations in several areas and / or several measuring directions, however, all the components of the vibrations of the respective object can be measured.

To position the beam deflection unit with the unmanned flying object with respect to the respective object whose vibrations are to be measured, the unmanned flying object is typically remotely controlled, with control commands being transmitted wirelessly or by wire to the unmanned flying object. In principle, however, it is also possible to fly the unmanned flying object with the beam deflecting unit in a tethering flight, i. H. to steer or guide with the help of tethered lines.

In scanning laser vibrometry, it is generally known that a beam deflecting unit must be decoupled from the oscillating object whose vibrations are to be measured. In the method according to the invention, vibrations or other dynamic movements of the jet deflection unit flown with the unmanned flying object may possibly not be prevented. The flow deflecting unit is, however, decoupled from the object whose vibrations are being measured. Influences of vibrations of the beam deflecting unit on the measurement signal are also separable. This separation can be carried out on the basis of characteristic frequencies of these influences or else by measuring the oscillations of the beam deflection unit in turn. Thus, in the method according to the invention, vibrations of the beam deflection unit can be taken into account when analyzing the measurement signal and measured by analyzing a reference component of the interrogation beam or a reference beam in the base station reflected in the backward direction by a reference object on the beam deflection unit.

As already mentioned, in the method according to the invention, the beam deflection unit can be displaced by flying with the flying object in order to direct the interrogation beam successively to different areas of the object or also to different objects. Furthermore, the beam deflection unit can be adjusted relative to the flying object in order to direct the interrogation beam successively to different areas of the object or to different objects. This adjustment of the beam deflecting unit may comprise a change of direction of the measuring direction by one or two, in particular two orthogonal pivot axes. For this purpose, a mirror of the beam deflecting unit can be pivoted relative to the flying object about the pivot axes. In principle, two or more mirrors of the beam deflecting unit, which deflect the scanning beam one after the other, can be mounted on the unmanned flying object, each being pivotable about a pivot axis in order to deflect the interrogation beam in different directions by respectively different angles.

In addition to the already indicated possibility to guide the unmanned flying object in the tethered flight through lines, the flying object can also be guided with the interrogation beam or an additional guide beam along the forward direction when flying the beam deflection unit. The guidance of flying objects with a guide beam is known in principle. In addition to the guidance of the flying object with a guide beam along the forward direction and a guide in at least one other direction with the or another guide beam can be done to completely define the position of the flying object in the air with this guide in several directions.

In the guidance of the flying object with the interrogation beam or even if the flying object is controlled elsewhere, the interrogation beam at the base station, for example, about a vertical and about a horizontal pivot axis relative to the ground to be swiveled to him always flown on the unmanned flying object To direct beam deflection unit.

The portion of the interrogation beam reflected from the area of the object opposite to the measuring device can be analyzed in particular with regard to the wavelength of its radiation and / or the period length or the phase of a phase, frequency or amplitude modulation imposed on the interrogation beam before directing onto the beam deflection unit in the base station , In order to carry out this analysis, the portion of the interrogation beam which is reflected counter to the direction of measurement can be superposed with a reference component split off from the interrogation beam before being directed onto the beam deflection unit in the base station, and the resulting interference can be detected.

It is understood that an interferometric analysis of the interrogation beam requires a coherent interrogation beam having a coherence length of at least the path from the base station to the object and back. Typically, the interrogation beam will be a laser beam. In other words, the method according to the invention is often one of scanning laser vibrometry or scanning laser Doppler vibrometry.

Despite this possibility to separate the vibrations of the Strahlumlenkeinheit with respect to their influences on the measurement signal, it is in the inventive method advantageous if the Strahlumlenkeinheit is decoupled vibration technology of the flying object and in particular by the drives of the flying object excited vibrations. For this purpose, the beam deflecting unit can be elastically mounted in a suitable manner on the unmanned aerial object.

When carrying out the method according to the invention, the base station supported on the ground can be moved over the ground in order, for example, to be able to measure the oscillations of moving objects such as moving motor vehicles or aircraft rolling on the ground.

The object whose vibrations are measured by the method according to the invention may also be a natural object, such as a ground surface or a rock. Such objects can also be scanned over a large area with the interrogation beam emitted by the base station with the aid of the beam deflection unit flown with the unmanned aerial object.

A device according to the invention for carrying out the method according to the invention with a base station which is designed to emit a query beam in a forward direction and a measurement signal in the form of a reverse direction of a reverse direction in a forward direction, reflected by a portion of an object portion of the interrogation beam with respect to vibrations of the area of the object, and with a beam deflection unit, which is designed and arranged to deflect the interrogation beam from the forward direction into a measuring direction, wherein the portion of the interrogation beam reflected from the area of the object counter to the direction of measurement is deflected by the beam deflection unit in the forward direction, so that the portion of the interrogation beam reflected from the area of the object counter to the direction of measurement returns to the base station as the measurement signal, has an unmanned flying object, at which the beam beams unit is mounted and which is adapted to fly the Strahlumlenkeinheit directed at the deflecting the directed from the bottom supported base station on the Strahlumlenkeinheit interrogation beam.

In order not only to be able to fly the beam deflection unit with the flying object, but also to set it differently in the space at the different positions of the flying object, at least one mirror of the beam deflection unit can be pivoted by a motor relative to the flying object.

The flying object can be designed for guidance through the interrogation beam, through one or more guide beams and / or through one or more guide lines.

The base station may be configured to analyze the measurement signal with respect to the wavelength of its radiation and / or the period length or phase of a phase, frequency or amplitude modulation imposed on the interrogation beam prior to directing in the base station. For this purpose, the base station may comprise an interferometer, which is designed to superimpose the portion of the interrogation beam reflected counter to the measuring direction with a reference beam split off from the interrogation beam before directing to the beam deflecting unit in the base station.

The measuring principle used in carrying out the method according to the invention or the use of the device according to the invention may, in particular, be laser Doppler vibrometry. In principle, however, a variation of the transit time of the interrogation beam from the base station can also be used to detect the oscillations be continuously detected via the beam deflection unit to the object and again via the beam deflection unit back to the base station and analyzed for changes.

Furthermore, the device according to the invention may comprise a reference measuring arrangement which is designed to measure vibrations of the beam deflecting unit by analyzing a reference portion of the interrogation beam or a reference beam in the base station which is reflected in the backward direction by a reference object on the beam deflecting unit. These vibrations can then be taken into account when analyzing the measurement signal.

In particular, the interrogation beam may be a laser beam provided by a laser in the base station.

The beam deflection unit mounted on the unmanned flying object is preferably decoupled from the flying object by vibration technology in order to minimize the vibrations of the beam deflection unit. The measures of minimizing the vibrations of the beam deflecting unit may also include shielding the beam deflecting unit from transient air currents caused by drives of the unmanned flying object.

It is understood that when the beam deflection unit is positioned not only along a fixedly oriented interrogation beam with the unmanned aerial object to scan the respective object for its vibrations, the interrogation beam of the beam deflection unit emitted by the base station is to be tracked. If the flying object is guided with the interrogation beam, it can be guided to a new position by changing the orientation of the interrogation beam.

Furthermore, the base station supported on the ground of the device according to the invention may comprise a chassis to move it to the ground parallel to a moving object whose vibrations are to be measured.

Advantageous developments of the invention will become apparent from the claims, the description and the drawings. The advantages of features and of combinations of several features mentioned in the description are merely exemplary and can take effect alternatively or cumulatively, without the advantages having to be achieved by embodiments according to the invention. Without thereby altering the subject matter of the appended claims, as regards the disclosure of the original application documents and the patent, further features can be found in the drawings, in particular the illustrated geometries and the relative dimensions of several components and their relative arrangement and operative connection. The combination of features of different embodiments of the invention or of features of different claims is also possible deviating from the chosen relationships of the claims and is hereby stimulated. This also applies to those features which are shown in separate drawings or are mentioned in their description. These features can also be combined with features of different claims. Likewise, in the claims listed features for further embodiments of the invention can be omitted.

The features mentioned in the patent claims and the description are to be understood in terms of their number that exactly this number or a greater number than the said number is present, without requiring an explicit use of the adverb "at least". So if, for example, a mirror is mentioned, it is to be understood that exactly one mirror, two mirrors or more mirrors are present. The features cited in the claims may be supplemented by other features or be the only features exhibited by the particular method or device.

The reference numerals contained in the claims do not limit the scope of the objects protected by the claims. They are for the sole purpose of making the claims easier to understand.

list of figures

• 1 zeigt schematisch eine erfindungsgemäße Vorrichtung bei der Durchführung des erfindungsgemäßen Verfahrens.
• 2 zeigt die erfindungsgemäße Vorrichtung gemäß 1 bei der Durchführung des erfindungsgemäßen Verfahrens zum Messen von Schwingungen eines anderen Objekts, konkret eines fahrenden Kraftfahrzeugs.
• 3 zeigt die erfindungsgemäße Vorrichtung gemäß den 1 und 2 bei der Durchführung des erfindungsgemäßen Verfahrens zum Messen von Schwingungen noch eines anderen Objekts, konkret eines Bauwerks in Form einer Brücke.
• 4 zeigt die erfindungsgemäße Vorrichtung gemäß den 1 und 2 bei der Durchführung des erfindungsgemäßen Verfahrens zum Messen von Schwingungen noch eines anderen Objekts, konkret einer Industrieanlage; und
• 5 zeigt die erfindungsgemäße Vorrichtung gemäß den 1 und 2 bei der Durchführung des erfindungsgemäßen Verfahrens zum Messen von Schwingungen noch eines anderen Objekts, konkret eines Erdbodenabschnitts.

In the following the invention will be further explained and described with reference to preferred embodiments shown in the figures.

• 1 schematically shows a device according to the invention in carrying out the method according to the invention.
• 2 shows the device according to the invention according to 1 in carrying out the method according to the invention for measuring vibrations of another object, specifically a moving motor vehicle.
• 3 shows the device according to the invention according to the 1 and 2 in carrying out the method according to the invention for measuring oscillations of yet another object, specifically a building in the form of a bridge.
• 4 shows the device according to the invention according to the 1 and 2 in carrying out the method according to the invention for measuring vibrations of still another object, specifically an industrial plant; and
• 5 shows the device according to the invention according to the 1 and 2 in carrying out the method according to the invention for measuring vibrations of still another object, specifically a ground section.

DESCRIPTION OF THE FIGURES

An in 1 illustrated device 1 is used to measure vibrations of an object 2 , specifically of vibrations of a sphere 3 a surface 4 of the object 2 , To the vibrations of the surface 4 in the area 3 to measure, becomes a query beam 5 in the form of a laser beam 6 from a base station 7 in a forward direction 8th on a Strahlumlenkeinheit 9 directed. The beam deflecting unit 9 directs the query beam 5 in a measuring direction 10 in order to be as vertical as possible in the area 3 on the surface 4 meets. The measuring direction 10 but also determines the direction in which the vibrations of the object 2 with the device 1 be measured. One from the surface 4 in the area 3 against the measuring direction 10 reflected proportion of the query ray 5 is from the Strahlumlenkeinheit 9 in one of the forward directions 8th opposite reverse direction 11 deflected and thus passes as a measurement signal 12 back to the base station 7 , There is the measuring signal 12 in terms of the vibrations of the area 3 the surface 4 analyzed. Specifically, a frequency shift of the measurement signal 12 opposite the query beam 5 which is based on a Doppler effect.

Basically, the query beam 5 also directly from the base station 7 on the object 2 be directed to vibrations of the object 2 to eat. One of the base station 7 directly on the object 2 directed query beam 5 ' is in 1 shown. In this way, however, are only partial areas of the surface 4 accessible for the measurement of their vibrations. To use with the help of the beam deflection unit 9 essentially all areas 3 the surface 4 also very large objects 2 to reach, is the Strahlumlenkeinheit 9 with the help of an unmanned flying object 13 flown and so with the help of the unmanned flying object 13 opposite to the ground 21 arranged base station 7 and also on the ground 21 arranged object 2 positioned. The unmanned aerial object 13 is one that is suitable for hovering and that via a wirelessly formed communication link here 14 one as well as the base station 7 on the ground 21 arranged control 15 is controlled. The control 15 also communicates with the base station 7 so that from the base station 7 outgoing query beam 5 always on the beam deflection unit 9 at the unmanned flying object 13 meets. This can be done by the base station 7 the forward direction 8th around a horizontal axis 16 and a vertical axis 17 pivot and be trained with the in the forward direction 8th radiated interrogation beam 5 the beam deflecting unit 9 at the unmanned flying object 13 to pursue. Specifically, the forward direction in which the base station polls the interrogation beam 5 to pivot a horizontal and a vertical pivot axis to align the interrogation beam at any solid angles. Conversely, the unmanned aerial object 13 be designed to the Strahlumlenkeinheit 9 always in the forward direction 8th from the base station 7 to disperse. In other words, the unmanned aerial object 13 be so designed that it is from the query beam 5 to be led.

A mirror 23 the beam deflection unit 9 is at the unmanned aerial object 13 via a pivoting device 18 stored, which is a motorized pivoting of the mirror 23 allows at least one pivot axis to the interrogation beam 5 in the measuring direction 10 to different areas 3 of the object 2 to judge. Furthermore, a storage 19 the beam deflection unit 9 at the unmanned flying object 13 designed so that they are the Strahlumlenkeinheit 9 from the unmanned flying object 13 vibration-decoupled. In addition, the base station 7 be trained to respond with the interrogation signal 5 or a reference beam or by analyzing a portion of the interrogation beam 5 or the reference beam from a reference object on the beam deflection unit 9 is reflected, is detected. So can effects of vibrations of the beam deflecting unit 9 on the measurement signal 12 be separated if these effects can not be detected and separated on the basis of, for example, a characteristic frequency.

While 1 an unspecified object 2 shows its vibrations with the device 1 be measured, shows 2 as an object 2 a moving motor vehicle 20 , Furthermore, in 2 the unmanned flying object 13 also in a second position 13 ' which illustrates how, in this second position, another area 3 ' the surface 4 of the object 2 in terms of its vibrations with the interrogation beam 5 can be measured. In principle, several Strahlumlenkeinheiten 9 be flown with several flying objects at the same time, the query beam 5 from the base station 7 alternately on the Strahlumlenkeinheiten 9 is directed or the base station 7 one interrogation beam on each of the beam deflection units 9 directed. Furthermore, it is too 2 to note that here the pivoting device of storage 19 the beam deflection unit 9 at the unmanned flying object 13 is not explicitly shown, although it is also present here.

Also in 3 is the pivoting device 18 storage 19 the beam deflection unit 9 at the unmanned flying object 13 not shown separately. Nevertheless, here too, the mirror applies 23 the beam deflection unit 9 motor opposite the unmanned aerial object 13 is pivotable to the measuring direction 10 to different areas 3 . 3 ' the surface 3 of the object 2 to judge whose vibrations are to be measured. At the object 2 this is a building 22 , specifically a bridge. In such a structure 22 are measurements of the vibrations of many areas 3 with the query beam 5 starting from one on the ground 21 supported base station even when using an additional on the ground 21 supported beam deflection unit 9 not possible. The at the unmanned flying object 13 mounted beam deflection unit 9 can with the unmanned aerial object 13 however, in almost any position with respect to the object 2 and the base station 7 to be flown. So can the interrogation signal 5 with the beam deflection unit 9 on any areas 3 . 3 ' of the object 2 be aligned, and in such a way that the query beam 5 in the respective measuring direction 10 . 10 ' at least approximately perpendicular or in a certain direction, in which the vibrations of the object 2 are of interest to the surface 4 of the object 2 falls.

In the 4 illustrated embodiment of the device according to the invention 1 and the method of the invention measures vibrations of surfaces 4 an industrial plant 24 as an object 2 to the industrial plant 4 For example, to monitor in terms of safety. Specifically, the monitored parts of the industrial plant 24 various pressure vessels or protective coats, even of nuclear power plants, be.

At the in 5 illustrated embodiment of the device according to the invention 1 and the method according to the invention is the base station 7 together with the controller 15 on a landing gear 27 arranged, and the base station 7 can work together with the controller 15 also during the implementation of the method according to the invention with the chassis 27 over the ground 21 be moved. The chassis 27 but can also be provided exclusively to the base station 7 together with the controller 15 to position for carrying out the method according to the invention. In the embodiment according to 5 the method according to the invention serves to detect vibrations of the surface 4 an object 2 in the form of a ground section 25 , This will be the ground section 25 along a scanning path 26 with the area 3 in which the query beam 5 on the surface 4 occurs, scanned. Measuring the vibrations of the surface 4 of the ground section 25 can z. B. in the context of seismological investigations to identify deposits of mineral resources or to verify the safety of mountain slopes against avalanche or the like. Furthermore, the application for agricultural purposes for soil characterization and for the detection of insect populations, plant stands, which are characterized by different vibrations, or the like is possible.

LIST OF REFERENCE NUMBERS

1

contraption

2

object

3

Area

4

surface

5

interrogating beam

6

laser beam

7

base station

8th

forward direction

9

beam deflecting

10

measuring direction

11

reverse direction

12

measuring signal

13

flying object

14

Signal transmission path

15

control

16

horizontal swivel axis

17

vertical pivot axis

18

Pivot means

19

storage

20

motor vehicle

21

ground

22

building

23

mirror

24

industrial plant

25

Erdbodenabschnitt

26

scan

27

landing gear

Claims (16)

Method for measuring oscillations of an object (2), wherein a query beam (5) from a base station (7) in a forward direction (8) on a beam deflecting unit (9) is directed, - wherein the interrogation beam (5) by the beam deflecting unit (9) in a measuring direction (10) is deflected, so in that the interrogation beam (5) strikes a region (3) of the object (2) in the measuring direction (10), - a portion of the interrogation beam (15) reflected from the region (3) of the object (2) counter to the measuring direction (10). 5) is deflected by the beam deflection unit (9) in a reverse direction (10) opposite the forward direction (8), so that the portion of the interrogation beam (5) reflected by the area (3) of the object (2) against the measuring direction (10) as measuring signal (12) goes back to the base station (7), and - wherein the measuring signal (12) in the base station (7) with respect to the oscillations of the region (3) of the object (2) is analyzed, characterized in that - Beam deflecting unit (9) on an unmanned flying object ( 13) is stored, - that the Strahlumlenkeinheit (9) when deflecting the of the bottom (21) supported base station (7) on the Strahlumlenkeinheit (9) directed polling beam (5) with the unmanned flying object (13) is flown, and in that vibrations of the beam deflection unit (9) are taken into account when analyzing the measurement signal (12) in the base station (7), wherein influences of the vibrations of the beam deflection unit (9) on the measurement signal (12) are separated on the basis of characteristic frequencies of these influences or also by the vibrations the Strahlumlenkeinheit (9) in turn be measured. Method according to Claim 1 characterized in that the vibrations of the beam deflecting unit (9) are measured by analyzing a reference portion of the interrogation beam (5) reflected in the backward direction from a reference object on the beam deflecting unit (9) or a reference beam in the base station (7). Method according to Claim 1 or 2 characterized in that the beam deflecting unit (9) is displaced by flying with the flying object (13) and / or pivoted relative to the flying object (13) to move the scanning beam (5) successively to different areas (3) of the object (2) and / or to different objects (2). Method according to one of the preceding claims, characterized in that the flying object (13) when flying the Strahlumlenkeinheit (9) with the interrogation beam (5) or a guide beam along the forward direction (8) is guided. Method according to one of the preceding claims, characterized in that the measurement signal (12) is analyzed with respect to - the wavelength of its radiation and / or - the period length or the phase of the interrogation beam (5) before directing the beam deflecting unit (9) in the Base station (7) impressed phase, frequency or amplitude modulation. Method according to one of the preceding claims, characterized in that the measurement signal (12) is superimposed with a reference component split off from the interrogation beam (5) before directing to the beam deflecting unit (9) in the base station (7). Method according to one of the preceding claims, characterized in that the base station (7) is moved over the bottom (21). Device (1) for carrying out the method according to one of the preceding claims, comprising - a base station (7) which is designed to emit a interrogation beam (5) in a forward direction (8) and a measurement signal (12) in the form of one in one of the Forward direction (8) opposite reverse direction (11) incident, of a region (3) of an object (2) reflected proportion of the interrogation beam (5) to analyze vibrations of the region (3) of the object (2), and - a Strahlumlenkeinheit ( 9) which is designed and can be arranged to deflect the interrogation beam (5) from the forward direction (8) into a measuring direction (10), wherein the portion reflected by the region (3) of the object (2) counter to the measuring direction (10) of the interrogation beam (1) is deflected by the beam deflecting unit (9) in the backward direction (11), so that the portion of the interrogation beam (5) reflected by the region (3) of the object (2) against the measuring direction (10) returns, for example u of the base station (7), characterized by - an unmanned flying object (13) on which the Strahlumlenkeinheit (9) is mounted and which is adapted to the Strahlumlenkeinheit (9) during deflection of the bottom of the (21) supported base station (7) scanning beam (5) directed towards the beam deflection unit (9), wherein the base station (7) is designed to take vibrations of the beam deflection unit (9) into account when analyzing the measurement signal (12) by influencing the vibrations of the vibrations Strahlumlenkeinheit (9) on the measurement signal (12) on the basis of characteristic frequencies of these influences separated or by measuring the oscillations of the Strahlumlenkeinheit (9) in turn. Device (1) according to Claim 8 , characterized in that a reference measuring arrangement is provided which is adapted to analyze vibrations of the beam deflecting unit (9) a reference portion of the interrogation beam (5) or a reference beam in the base station (7) reflected in the backward direction (11) from a reference object on the beam deflecting unit (9). Device (1) according to Claim 8 or 9 , characterized in that the Strahlumlenkeinheit (9) at least one with respect to the flying object (13) has a motor pivotable mirror (23) for deflecting the Abfragestrahls. Device (1) according to one of Claims 8 to 10 , characterized in that the flying object (13) is designed for guidance through the interrogation beam (5) or a guide beam. Device according to one of Claims 8 to 11 , characterized in that the base station (7) is adapted to the measurement signal (12) with respect to - the wavelength of its radiation and / or - the period length or phase of the interrogation beam (5) prior to directing the Strahlumlenkeinheit (9) in the Base station (7) to analyze imposed phase, frequency or amplitude modulation. Device (1) according to one of Claims 8 to 12 , characterized in that the base station (7) comprises an interferometer, which is adapted to the measurement signal (12) with one of the interrogation beam (5) before judging the Strahlumlenkeinheit (9) split off in the base station (7) reference component overlap. Device (1) according to one of Claims 8 to 13 , characterized in that the base station (7) supported on the ground comprises a chassis (27) and is designed to be moved parallel to a moving object on the ground. Method or device (1) according to one of the preceding claims, characterized in that the interrogation beam (5) is a laser beam (6). Method or device (1) according to one of the preceding claims, characterized in that the beam deflecting unit (9) is decoupled from the flying object (13) in terms of vibration technology.

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