Method of operating a distance-measuring monitoring sensor and monitoring sensor

• US 9,977,118 B2
• Filed: 03/13/2017
• Issued: 05/22/2018
• Est. Priority Date: 03/14/2016
• Status: Active Grant

• Current Assignee: Sick AG (Sick)
• Original Assignee: Sick AG (Sick)
• Inventors: Jachmann, Fabian
• Primary Examiner(s): Nguyen, Sang
• Application Number:
  US15/456,875
• Publication Number:
  US 20170261603A1
• Time in Patent Office: 435 Days
• CPC Class Codes: G01N 15/0205 by optical means
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data

Abstract

The present invention relates to a method of operating a distance-measuring monitoring sensor for monitoring an at least two-dimensional protected field that is divided into a plurality of sector-shaped, cyclically scannable monitored fields, wherein the monitoring sensor comprises at least one light transmitter and at least one light receiver. The invention further relates to a monitoring sensor.

Claims

1. A method of operating a distance-measuring monitoring sensor for monitoring an at least two-dimensional protected field that is divided into a plurality of sector-shaped, cyclically scannable monitored fields, wherein the monitoring sensor comprises at least one light transmitter and at least one light receiver, comprising the steps:

transmitting a transmitted light beam into the protected field by the at least one light transmitter;

receiving light by the at least one light receiver, with the light being reflected or remitted by an object if the object is present in the protected field;

generating a specific received signal for the respective monitored field on the basis of the received light, wherein a respective received signal comprises information on the angular position of the monitored field and on the distance of an object located therein from the monitoring sensor,

wherein all of the plurality of the monitored fields of the protected field are scanned once within a cycle;

determining the size of an angular region over which a respective detected object extends;

determining the size of the object on the basis of the determined distance and on the basis of the determined size of the angular region;

classifying the object as a particle or as a large object on the basis of the determined size of the object and of a predetermined threshold value for the size, wherein the object is classified as a particle if it is smaller than the threshold value and is classified as a large object if it is larger than the threshold value; and

generating an object detection signal on the basis of the received signals when it is found that at least one large object is located in at least one of the monitored fields for a predefined first number of sequential cycles or when it is found that at least one particle is located substantially at a stationary angle in at least one of the plurality of monitored fields for a predefined second number of sequential cycles.

2. The method in accordance with claim 1,

wherein the first number and the second number are the same.

3. The method in accordance with claim 1,

wherein an object detection signal is furthermore also generated when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are each located in at least one of the plurality of monitored fields for at least some of these cycles.

4. The method in accordance with claim 1,

wherein an object detection signal is furthermore also generated when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are each located in at least one of the plurality of monitored fields for at least some of these cycles and the at least one particle is substantially at a stationary angle.

5. The method in accordance with claim 1,

wherein a large object index is provided and a respective particle index is provided for each monitored field;

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles comprises the large object index being incremented by 1 when the presence of at least one large object was detected in one cycle and the generation of the object detection signal comprises an object detection signal being generated when the large object index reaches the predefined first number; and

wherein the determination whether at least one particle is located in at least one monitored field substantially at a stationary angle for a predefined second number of sequential cycles comprises a respective particle index being incremented by 1 in a respective cycle when the presence of a particle in the monitored field associated with this particle index or in a directly adjacent monitored field was detected in a cycle and the generation of the object detection signal comprises the maximum of all particle indices being determined and an object detection signal being generated when the maximum has reached the predefined second number.

6. The method in accordance with claim 5,

wherein an object detection signal is furthermore also generated when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are each located in at least one of the plurality of monitored fields for at least some of these cycles,

wherein the generation of an object detection signal comprises, when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are respectively located in at least one of the plurality of monitored fields for at least some of these cycles, the sum of the large object index and the maximum of the particle indices being formed and the object detection signal being generated when the sum has reached the predefined third number.

7. The method in accordance with claim 6,

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles furthermore comprises the large object index being reset when the absence of large objects was detected in a cycle;

wherein a resetting of the large object index is omitted when the presence of a particle was detected at the same time within that cycle in which the absence of a large object was detected that was present in the preceding cycle.

8. The method in accordance with claim 6,

wherein the finding whether at least one particle is present in at least one of the plurality of monitored fields substantially at a stationary angle for a predefined second number of sequential cycles furthermore comprises a respective particle index being reset in a respective cycle when the presence of a particle was detected for the associated detection field in the directly preceding cycle and the absence of this particle was detected in the current cycle;

wherein a resetting of the large object index is omitted when the presence of a particle was detected at the same time within that cycle in which the absence of a large object was detected that was present in the preceding cycle.

9. The method in accordance with claim 6,

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles furthermore comprises the large object index being reset when the absence of large objects was detected in a cycle;

wherein a resetting of the particle index is omitted when the presence of a large object was detected at the same time within that cycle in which the absence of a particle was detected that was present in the preceding cycle.

10. The method in accordance with claim 6,

wherein the finding whether at least one particle is present in at least one of the plurality of monitored fields substantially at a stationary angle for a predefined second number of sequential cycles furthermore comprises a respective particle index being reset in a respective cycle when the presence of a particle was detected for the associated detection field in the directly preceding cycle and the absence of this particle was detected in the current cycle;

wherein a resetting of the particle index is omitted when the presence of a large object was detected at the same time within that cycle in which the absence of a particle was detected that was present in the preceding cycle.

11. The method in accordance with claim 5,

wherein an object detection signal is furthermore also generated when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are each located in at least one of the plurality of monitored fields for at least some of these cycles and the at least one particle is substantially at a stationary angle,

wherein the generation of an object detection signal comprises, when it is found for a predefined third number of sequential cycles that at least one large object and at least one particle are respectively located in at least one of the plurality of monitored fields for at least some of these cycles, the sum of the large object index and the maximum of the particle indices being formed and the object detection signal being generated when the sum has reached the predefined third number.

12. The method in accordance with claim 11,

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles furthermore comprises the large object index being reset when the absence of large objects was detected in a cycle;

wherein a resetting of the large object index is omitted when the presence of a particle was detected at the same time within that cycle in which the absence of a large object was detected that was present in the preceding cycle.

13. The method in accordance with claim 11,

wherein the finding whether at least one particle is present in at least one of the plurality of monitored fields substantially at a stationary angle for a predefined second number of sequential cycles furthermore comprises a respective particle index being reset in a respective cycle when the presence of a particle was detected for the associated detection field in the directly preceding cycle and the absence of this particle was detected in the current cycle;

wherein a resetting of the large object index is omitted when the presence of a particle was detected at the same time within that cycle in which the absence of a large object was detected that was present in the preceding cycle.

14. The method in accordance with claim 11,

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles furthermore comprises the large object index being reset when the absence of large objects was detected in a cycle;

wherein a resetting of the particle index is omitted when the presence of a large object was detected at the same time within that cycle in which the absence of a particle was detected that was present in the preceding cycle.

15. The method in accordance with claim 11,

wherein the finding whether at least one particle is present in at least one of the plurality of monitored fields substantially at a stationary angle for a predefined second number of sequential cycles furthermore comprises a respective particle index being reset in a respective cycle when the presence of a particle was detected for the associated detection field in the directly preceding cycle and the absence of this particle was detected in the current cycle;

wherein a resetting of the particle index is omitted when the presence of a large object was detected at the same time within that cycle in which the absence of a particle was detected that was present in the preceding cycle.

16. The method in accordance with claim 5,

wherein the determination whether at least one large object is located in at least one of the plurality of monitored fields for a predefined first number of sequential cycles furthermore comprises the large object index being reset when the absence of large objects was detected in a cycle.

17. The method in accordance with claim 5,

wherein the finding whether at least one particle is present in at least one of the plurality of monitored fields substantially at a stationary angle for a predefined second number of sequential cycles furthermore comprises a respective particle index being reset in a respective cycle when the presence of a particle was detected for the associated detection field in the directly preceding cycle and the absence of this particle was detected in the current cycle.

18. The method in accordance with claim 1,

wherein the determination of the size of an angular region over which a respective object extends comprises the size of the angular region being determined on the basis of the number of adjacent monitored fields in which the presence of an object was found at substantially the same distance and their angular intervals being determined.

19. The method in accordance with claim 1,

wherein the received signals generated during a respective cycle are stored for a predefined number of cycles and the object detection signal is generated on the basis of the stored received signal.

20. The method in accordance with claim 1,

wherein the monitoring sensor is a laser scanner that is configured for monitoring one or more scanning surfaces.

21. A distance-measuring monitoring sensor for monitoring an at least two-dimensional protected field that is divided into a plurality of sector-shaped, cyclically scannable monitored fields, wherein the monitoring sensor comprises at least one light transmitter, at least one light receiver and a control unit, with the control unit being configured for carrying out the method in accordance with claim 1.