• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an optical sensor (1), which comprises a transmitter unit which emits light rays (2) and a receiver (8), which has a matrix-shaped arrangement of receiver elements. The projection of light rays (2) forms a light line (5) on an object to be detected, which is imaged on the receiver (8). In an evaluation unit, by evaluating the reception signals of the receiver elements according to the triangulation principle, a distance profile of the object structure can be determined. In the evaluation unit, at least one evaluation window (12a) is generated, which comprises in one direction a local area extending along the light line (5) and in a second direction a distance interval. By evaluating the number of object points falling in the evaluation window (12a), a binary status information is generated. Figure 1
    公开号:SE1250316A1
    申请号:SE1250316
    申请日:2010-08-14
    公开日:2012-03-29
    发明作者:Horst Essig；Fabian Geiger；Dieter Klass；Juergen-Ralf Weber
    申请人:Leuze Electronic Gmbh & Co Kg；
    IPC主号:
    专利说明:

    detection intended object structure, which is imaged on the receiver. l enevaluation unit is by evaluating the reception signals ofthe receiver elements according to the triangulation principle a distance profile ofobject structure determinable. At least one is generated in the evaluation unitevaluation window, which in one direction includes one extending along the light linelocal area and in a second direction a distance interval. By evaluatingthe number of avi evaluation window incident object points is generated a binarystatus information.The optical sensor according to the invention can pass through the linear onethe design of the light beams emitted from the transmitter an extended monitoringarea is detected, it being advantageous that no one is required in this caseparts for a deflection of the light beams. Instead, the transmitter generates a constantlight line on an object structure intended for examination. Thus, you can with itthe optical sensor according to the invention simultaneously detects several objects simultaneously.
    The distance measurement performed according to the triangulation principle is obtaineddistance information about the objects to be detected. Thereby canthe object is detected by detection, in particular contour information of objectscan be obtained.
    By determining according to the invention one or more evaluation windows can ithese targeted different objects or object structures are detected. Thereby formingthe evaluation windows predetermined cuts from the monitoring area, wherebyeach evaluation window therefor includes a defined distance range. Throughpresetting this distance range allows the location at the object detectiontargeted in the current evaluation window, whereby for exampleobjects are deliberately detectable in front of background structures.l / led the generation of a binary status information for each evaluation windowa statement about an expected object structure or is obtained for each evaluation windowan expected object is detected or not. With this evaluation takes place on one sidea secure and accurate object detection. On the other hand, is obtained by generationof the binary status information from a plurality of object points a data reduction, sothat the evaluation only takes up small calculation times.
    Particularly advantageous here is the evaluation of the object points in oneevaluation windows are reduced to pure calculation procedures, which are simple andquickly feasible.
    The evaluation of object points within one is particularly advantageousevaluation window in such a way that the binary status information occupies a firstposition ”1 in case the number of the object points incident in the evaluation windowis greater than a number of connections, and that the binary status information occupies onesecond position in case the number of those in the evaluation window decreasesthe object points are less than a number of disconnections.The number of switches on and the number of switches off are adjustable parameters.
    By selecting these parameters is in a simple way an application specificcustomizing the evaluation of the object points within an evaluation windowadaptable. Particularly preferred may be by a suitable choice of connection number anddisconnection number in such a way that the disconnection number is greater than the disconnection number,a switching hysteresis is generated when switching between the positions “0” and “1 throughwhich obtains a secure coupling relationship between the states.
    Particularly advantageous is the number of positions and dimensions ofevaluation window parameterizable.
    Consequently, by pre-determining the evaluation windows, one can easilyand quickly adapt the optical sensor to different applications. Furthermore, one canby an appropriate dimensioning of the evaluation windows predetermine the numberobject points within an evaluation window. Thereby an improvement ofthe sensitivity of evidence, as the setting preferably takes place in such a way that an elevatedtolerance to reflections, shading or contrast defects is obtained. Thisparameterization preferably takes place in one of the operating processes of the optical sensorconnected learning mode.
    Particularly advantageous is even an adjustment of the evaluation windowspositions, in particular with respect to a predetermined reference position, possible,so that during the operating process is an adjustment of the parameters of the optical sensorto the changed boundary conditions possible.
    In the simplest case, the binary status information constitutes the evaluation windowsoutput parameters.
    Alternatively, in the evaluation unit are logical interconnections of binarystatus information of separate evaluation windows for generatingoutput parameters feasible.
    In this type of output parameter generation, detailed statements aboutcomplex object structures meet. In this case, it is particularly advantageous that differentsingle structures of objects can be assigned separate evaluation windows separately,whereby the evaluation in the separate evaluation windows quickly andeasily obtains accurate information about the individual structures. The information aboutthe whole structure can then be easily and quickly led away by logicinterconnections of the binary status information of the evaluation windows.
    The evaluation of object points within an evaluation window is easiest in this waythat the number of object points is selected within the evaluation window regardless of theirrelative positions.
    Alternatively, an evaluation window is evaluated only consecutivelyobject points for determining object contours. Through this extra restriction atthe evaluation within an evaluation window thus only targeted contours are observedof objects.
    In both variants can in principle directly for each with the optical sensorcompleted measurement, ie for image capture in the receiver, binarystatus information is generated for the individual evaluation windows and thuscorresponding output parameters.
    Alternatively, several consecutive measurements can be drawn to generatea binary status information for an evaluation window.
    By extracting several measurements for the generation of binarystatus information and output parameters are admittedly reducedthe switching frequency of the optical sensor, i.e. its reaction time increases.
    However, this also increases the proof security of the optical sensor.
    In general, measurement fluctuations can be detectable within at least oneevaluation window and depending on it may be an error or warning messagegeneratable.
    The error and warning messages thus generated signal when theythe individual output parameters of the optical sensor no longer exhibit itrequired reliability.
    The evaluation of the optical sensor can in principle be extended accordingly, sothat not only distance information, but also information about objects contrastsobtained. In addition, it is determined as additional information by an amplitude evaluation ofreceiver signals from the receiver elements remission values for the individualthe object points.
    Particularly preferably, the lighting implemented with the transmitter is controlled or regulatedonly as a function of those within the evaluation window or evaluation windowsthe horizontal receiver signals of the receiver element.
    Thus, the lighting adjustment is goal-oriented only as a function of those forobject detection interesting, through the evaluation windows selected image parts ofthe optical sensor.
    The invention is further elucidated in the following with the aid of the drawings. They show:Figure 1: Schematic representation of an embodiment of the opticalthe sensor according to the invention.
    Figure 2: Plan view of the receiver of the optical sensor according to figure 1.
    Figure 3: The first variant of a definition of evaluation window at aobject detection with the optical sensor according to figure 1.
    Figure 4: The second variant of a definition of evaluation window at aobject detection with the optical sensor according to figure 1.
    Figure 5: Definition of evaluation window of the invention of a containerwith the optical sensor according to figure 1.
    Figure 1 schematically shows an embodiment of the optical sensor 1 according tothe invention. The optical sensor 1 constitutes a light-cut sensor, in whichdistance measurements are performed according to the triangulation principle, whereby aposition-sensitive object detection is enabled in a monitoring area.
    The optical sensor 1 has a transmitter unit consisting of a transmitter 3, whichemits light rays 2 and a transmitter optics 4 subordinate to it. The transmitter 3in the present case consists of a laser, in particular a laser diode. The laser emits onebundle of light beams with approximately circular beam cross section. For the design of those inthe light beams carried by the monitoring area serve the transmitter optics 4, which is designedas an extension optics. Through the transmitter optics 4, light beams are formed from the laser beams2 with a linear cross-section along a straight line, so that on the surface of a linerdetection intended object structure a light line is generated 5.
    With the light line 5 developed in this way, several objects can be detected simultaneously. lIn the exemplary embodiment according to Figure 1, these are four objects arranged in separate tracks6a - 6d, which are transported on a conveyor belt 7. The conveyor belt 7transport direction runs in the y-direction. Objects 6a - 6d are arranged in the x-directionwith spacing next to each other. Accordingly, the light line 5 of it also extendsoptical sensor 1 in the x-direction, so that the objects 6a - 6d can be detected simultaneously bylight steel 2.
    The optical sensor 1 further has a locating receiver 8 with amatrix-shaped, i.e. a device divided into rows and columns ofreceiver unit. The receiver 8 then preferably consists of a CMOS orCCD array. Furthermore, the receiver 8 is assigned a receiver optics 9, by means ofthis light beams 2 reflected by object structures are imaged on the receiver 8.
    The receiver 8 is arranged with a distance to the transmitter 3. In addition, the opticalaxis A of the receiver 8 bent to an angle of inclination with respect to that of the z-direction extending the beam axis of the laser beams. In Figure 1, the row direction ofthe receiver 8 denoted by t, the column direction by s. The row direction t runsat least approximately in the x-direction.
    The optical sensor 1, whose components are integrated in a housing (not shown), hasfurthermore, an evaluation unit (not shown), which consists of a microprocessoror similar. The evaluation unit serves on the one hand to control the transmitter 3and on the other hand for evaluating the receiver signals of the receiver elements ofthe recipient 8.l / led the optical sensor 1 thus designed can distance profiles ofobject structures are determined. This is illustrated by Figure 2, which showsa plan view of the receiver 8 of the optical sensor 1. It of an object structureThe light line 5 is designed to be located to the receiver 8. This is shown in Figure 2 in the form ofa contour line 10 corresponding to the object structure of Figure 1, consisting of the fourobjects 6a - 6d on the conveyor belt 7. In doing so, define the positions inthe column direction s the respective height values. In known positions of received 8 inrelation to the transmitter 3, the contour line 10 is converted to a distance profile, i.e. inseparate elevation values z as a function of the position x in the longitudinal direction oflight line 5.
    Figure 3 schematically shows those thus determined for the four objects 6a - 6ddiscrete consequences of the elevation measurement values, ie the measurement values 1 1a - 11d forthe four objects 6a - 6d on the conveyor belt 7. The intermediate onesthe measured values are derived from the conveyor belt 7. For degradation is inthe diagram in addition to that detected by the light beams 2 of the optical sensor 1the area drawn.
    For the selective detection of the objects 6a - 6d on the conveyor belt 7defined in the evaluation unit by the optical sensor 1, as shown in FIG3, four different evaluation windows 12a - 12d. Evaluation windows 12a - 12dincludes a defined area in all cases in the x-direction and a defined onedistance interval in the z-direction. For each object 6a - 6d intended for detection isthereby defining an evaluation window 12a -12d, its position and sizeis adapted to the position and size of what is available for detectionintended object 12a - 12d. In the present case, it is transported onthe conveyor belt 7 always has four approximately equal objects 6a - 6d in four tracks withdistance next to each other. When objects 6a - 6d are illuminated obliquely from above throughlight beams 2 of the transmitter 3, are obtained for the two objects arranged on the left6a, 6b in all cases at the left edge light shading and for the two moreright arranged objects 6o, 6d in all cases at the right edge light shading.
    As a result, the distributions of the measured values 11a - 11d are not completely identical. Despitethis corresponds approximately to those for the detection of the individual objects6a - 6d expected measurement values, so that the detection of all four objects 6a - 6dare defined by identically designed evaluation windows 12a - 12d, which, asshown in Figure 3, are at the same distance from each other.
    For detection of an object 6a - 6d is counted in the assigned evaluation window12a - 12d the number of object points, i.e. the number of measured values 11a - 11d, whichfalls on the evaluation window 12a - 12d. In doing so, such an object is oneoutput signal of a receiver element of the receiver 8, which with respect toits position and distance value after conversion into z-x coordinates are withinevaluation window 12a - 12d. This number is compared with a number of disconnections anda connection number, whereby a binary status information is generated. Is locatedthe number of object points over the number of connections, then it occupies the binarythe status information state ”1 which in the present case corresponds to the status"Object detected". If the number of object points is below the number of disconnections, then assumethe binary status information the status which in the present case corresponds tothe status "object not detected". Suitably, a coupling hysteresis genome is definedthat the switch-on number is selected greater than the switch-off number. Is for example the binarystatus information in the status "1", this does not change to status "0" whenthe number of object points decreases below the number of connections. However, there is one for thislowering the number of object points to below the number of disconnections is necessary.
    The same applies in the event of a reverse status change.
    In the situation shown in Figure 3, it is detected in all four evaluation windows 12a -12d an object 6a - 6d. The corresponding status information can be immediatelyspecified as output parameters via outputs or bus interfaces. Alternatively canthe binary status information is also logically linked to one or moreoutput parameters.
    The optical sensor 1 according to the invention can in itself be fast and simpleadapted to changing application conditions. An adaptation to suchchanged application is shown in figure 4. l this application is transported insteadfour objects 6a - 6d now five objects (which are not shown separately) in five next to each otherhorizontal rafters on the conveyor belt 7. In this case, the objects on the center rafter can varywithin a large height area, while the objects in the second lane from the left showone compared to the other objects larger width.
    The adaptation to the changed application takes place through a change ofthe positions and sizes of the evaluation windows 12a - 12e and possibly offthe respective connection numbers and / or the disconnection numbers for oneevaluation window 12a - 12e. Figure 4 shows the changed evaluation windows12a - 12e. corresponding to the changed measurement data, namely by the detection offive objects, five evaluation windows 12a - 12e are now defined. l / pilot corresponding deexpected different sizes of objects on the center rafter, extendsthe evaluation window 12c over a larger distance range Z. Then other objects canbe arranged on the second track, the actingevaluation window 12b an enlarged extension in the x-direction so that it overlapswith the adjacent evaluation windows 12a, o.
    As can be seen from Figure 4, it is true that the first three and the fifth are registeredtrack measured values of objects. The corresponding measurement values 11b, 11c for the objects oflOthe second and third tracks, however, are for the most part outside the respective onesevaluation windows 12b, 12c, so that in this evaluation window 12b, 12c is obtained inin all cases a number of the object points below the number of disconnections. Thusdelivers the evaluation windows 12b, 12c as well as the evaluation window 12d, thereno object points were registered at all, the binary status information"Object not detected". accordingly, for the evaluation windows 12a, 12ethe binary status information "object detected".
    Figure 5 shows a further use example of the optical sensor 1. in thiscase, with the optical sensor 1 a container 13 as well as possibly itscontent is detected. For this purpose, evaluation windows 12.1 and12.3, which are adapted to the expected container tops. In addition, definedthe evaluation window 12.2 for the inside of the container.
    The container 13 also applies as detected, when in both evaluation windows 12.1and 12.3 in all cases the number of object points is above the number of connections, that issay when the logical interconnection is fulfilled, so that the binarythe status information of the evaluation window 12.1 and also binarystature information of the evaluation window 12.3 is detected in the status "1 it wantssay "object detected". Then the output parameter “container” is generateddetected ”.
    Furthermore, the output parameter "container full" is generated when the binarythe status information of the evaluation window 12.2 is detected in the status “1 it wantssay "object detected".
    The evaluation can be further enhanced by additional evaluation windows12.4, 12.5 are defined in the areas 14a, 14b shaded by the container 13.
    Then it is required for a container detection that in an UND connection forthe evaluation windows 12.1, 12.3 in all cases there is the binarythe status information = "1" and for the evaluation windows 12.4, 12.5 the binarystatus information =llFurthermore, the evaluation can accordingly be extended, so that an evaluation window12.6 for control of the container bottom is introduced. This evaluation window 12.6 can alsopresented for evaluation of the presence of the container 13, with which one cancheck if the container 13 is empty. This is the case when the binarythe status information for the evaluation window 12.6 is equal to "1Finally, with the evaluation windows 12.7, 12.8 you can check the dataon which the container 13 stands, for example a conveyor belt 15, lies in itssetpoint. This is the case when in all cases for the evaluation windows 12.7,12.8 receives the binary status information = "1 Changes the basisheight position, then there are no longer enough objects in the evaluation windows12.7, 12.8, so that in all cases the binary status information = "0" is obtained forevaluation windows 12.7, 12.8. If this is the case, then generated in the optical sensor1 preferably a control signal for adjusting the other evaluation windows 12.1 -12.6, so that their positions are adapted to the changed height position.12Reference character listU) op fi sksensor(2) Light rays(3) transmitter(4) sändafopük(5) Uusm fl ewaße) omem(7) Clamping tape(8) recipients(9) receiver optics(10) account fl h fl e(11a-11d) measured value(12a-12e) evaluation window(12.1-12.8) evaluation window(13) behà fl are(14) onwàde(14b) onwàde(15) conveyor belt
    权利要求:
    Claims (15)
    [1]
    Optical sensor (1) with a transmitter unit that emits light beams (2), with a receiver (8), which has a matrix-shaped arrangement of receiver elements, the projection of light beams (2) forming a light line (5) on a means for detection. object structure, which is imaged on the receiver (8), and with an evaluation unit, in which by evaluating the reception signals of the receiver elements according to the triangulation principle a distance profile of the object structure is determinable, at least one evaluation window (12a) in the evaluation unit being generated along a line (5) extending local area and in a second direction a distance interval, and wherein a binary status information is generated by evaluating the number of object points falling in the evaluation window (12a).
    [2]
    Optical sensor according to claim 1, characterized in that the binary status information assumes a first status "1 if the number of the object points falling in the evaluation window (12a - 12e) is greater than a number of connections, and that the binary status information assumes a second status if that the number of the object points falling in the evaluation window (12a - 12e) is less than a number of disconnections.
    [3]
    Optical sensor according to Claim 2, characterized in that the number of connections and the number of disconnections constitute adjustable parameter values.
    [4]
    Optical sensor according to one of Claims 1 to 3, characterized in that several evaluation windows (12a - 12d) are generated in the evaluation unit.
    [5]
    Optical sensor according to Claim 4, characterized in that adjacent evaluation windows (12a - 12e) are arranged partially overlapping or spaced apart.
    [6]
    Optical sensor according to one of Claims 4 to 5, characterized in that the number of positions and dimensions of the evaluation windows (12a - 12e) are parameterizable. 14
    [7]
    Optical sensor according to one of Claims 1 to 6, characterized in that the positions of the evaluation windows are adjustable.
    [8]
    Optical sensor according to one of Claims 4 to 7, characterized in that in the evaluation unit, logical interconnections of binary status information of separate evaluation windows (12a - 12e) for generating output parameters are feasible.
    [9]
    Optical sensor according to one of Claims 1 to 7, characterized in that the binary status information from the evaluation windows (12a - 12e) constitute output parameters.
    [10]
    Optical sensor according to one of Claims 1 to 9, characterized in that separate object points are evaluated within an evaluation window (12a - 12e).
    [11]
    11. Optical sensor according to one of Claims 1 to 9, characterized in that only successive object points for determining object contours are evaluated within an evaluation window (12a - 12e).
    [12]
    Optical sensor according to one of Claims 10 or 11, characterized in that remission values for the separate object points are determined as additional information by an amplitude calculation of reception signals of the receiver elements.
    [13]
    Optical sensor according to one of Claims 1 to 12, characterized in that several consecutive measurements are drawn to generate binary status information for an evaluation window (12a-12e).
    [14]
    An optical sensor according to any one of claims 1 to 13, characterized in that within at least one evaluation window (12a - 12e) measured value fluctuations are detectable, and that as a function of this an error or warning message is generatable.
    [15]
    Optical sensor according to one of Claims 1 to 14, characterized in that the illumination carried out by the transmitter (3) is controlled or regulated only as a function of the reception signals of the receiver elements located within the evaluation window or evaluation windows (12a - 12e).
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    同族专利:
    公开号 | 公开日
    WO2011038804A1|2011-04-07|
    AT532030T|2011-11-15|
    EP2306145A1|2011-04-06|
    ES2374514T3|2012-02-17|
    US20120176592A1|2012-07-12|
    EP2306145B1|2011-11-02|
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    法律状态:
    2014-12-02| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    EP20090012302|EP2306145B1|2009-09-29|2009-09-29|Optical sensor|
    PCT/EP2010/005005|WO2011038804A1|2009-09-29|2010-08-14|Optical sensor|
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