Optoelectric Sensor and Method for the Detection and Distance Determination of Objects
First Claim
1. An optoelectronic sensor (10) for the detection and distance determination of objects in a monitoring area (18), the sensor (10) comprisinga light transmitter (12) for transmitting a transmission light beam (14) having a plurality of consecutive individual light pulses,a rotatable deflection unit (16) for a periodic deflection of the transmission light beam (14) in the monitoring area (18),an angle measuring unit (28) for determining an angular position of the deflection unit (16),a light receiver (24) for generating reception pulses from transmission light remitted or reflected by objects in the monitoring area (18),at least one histogram memory (34), andan evaluation unit (30) which is configured to accumulate a time histogram from a plurality of reception pulses in the histogram memory (34) and to determine, from the histogram, a light time of flight from the sensor (10) to an object and therefrom an object distance,characterized in thata plurality of histogram memories (34) is provided each associated with an angular position,and in that the evaluation unit (30) is configured to accumulate time histograms in the histogram memories (34) across several periods of the rotational movement of the deflection unit (16) from reception pulses which are each detected at the angular position associated with the respective histogram memory (34), and to determine the object distance for an angular position from the histogram of the associated histogram memory (34).
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Accused Products
Abstract
An optoelectronic sensor (10) for distance determination comprises a transmitter (12) for transmitting a light beam (14) having a plurality of consecutive individual light pulses, a rotatable deflection unit (16) for deflecting the light beam (14), an angle measuring unit (28) for determining an angular position of the deflection unit (16), a light receiver (24) for generating reception pulses from remitted transmission light, a plurality of histogram memories (34) each associated with an angular position, and an evaluation unit (30) which is configured to accumulate time histograms in the histogram memodes (34) across several periods of the rotational movement of the deflection unit (16) from reception pulses which are each detected at the angular position associated with the respective histogram memory (34), and to determine, from the histograms of the associated histogram memory (34), an object distance for an angular position.
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Citations
17 Claims
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1. An optoelectronic sensor (10) for the detection and distance determination of objects in a monitoring area (18), the sensor (10) comprising
a light transmitter (12) for transmitting a transmission light beam (14) having a plurality of consecutive individual light pulses, a rotatable deflection unit (16) for a periodic deflection of the transmission light beam (14) in the monitoring area (18), an angle measuring unit (28) for determining an angular position of the deflection unit (16), a light receiver (24) for generating reception pulses from transmission light remitted or reflected by objects in the monitoring area (18), at least one histogram memory (34), and an evaluation unit (30) which is configured to accumulate a time histogram from a plurality of reception pulses in the histogram memory (34) and to determine, from the histogram, a light time of flight from the sensor (10) to an object and therefrom an object distance, characterized in that a plurality of histogram memories (34) is provided each associated with an angular position, and in that the evaluation unit (30) is configured to accumulate time histograms in the histogram memories (34) across several periods of the rotational movement of the deflection unit (16) from reception pulses which are each detected at the angular position associated with the respective histogram memory (34), and to determine the object distance for an angular position from the histogram of the associated histogram memory (34).
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14. A method for the detection and distance determination of objects in a monitoring area (18), wherein
a transmission light beam (14) having a plurality of consecutive individual light pulses is transmitted and periodically scans the monitoring area (18) by means of a rotatable deflection unit (16) whose respective angular position is measured, reception pulses are generated from transmission light remitted or reflected by objects in the monitoring area (18), a time histogram is accumulated from a plurality of reception pulses in at least one histogram memory (34), and a light time of flight to an object and therefrom an object distance is determined, characterized in that time histograms are accumulated in a plurality of histogram memories (34) each associated with an angular position, time histograms are accumulated in the histogram memories (34) across several periods of the rotational movement of the deflection unit (16) from reception pulses which are each detected at the angular position associated with the respective histogram memory (34), and the object distance for an angular position is determined from the histogram of the associated histogram memory (34).
Specification