• 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:
    A laser scanner (10,32) for monitoring a surveillance zone (36) in front of an opening that can be closed by a closure means whose design defines a danger zone (40) in the surveillance zone (36), the surveillance zone (36) being delimited at least on one side by a frame (34) in front of which there is an edge zone (38) comprising the laser transmitting and receiving unit (12), furthermore, delay detection means (14) is provided which determines by a measurement of the propagation time (TOF (RP)) of a laser pulse transmitted and received the position of an object (22, 44, 46). ) in the monitoring zone (36), an evaluation unit (18) being provided which generates a first object information which indicates whether an object has been detected by the delay measuring means, a detection means of intensity (16) being further provided which evaluates the intensity (I (RP )) of the received laser pulse and which compares the detected intensity (I (RP)) with reference intensity (IREF) stored in a storage unit (24), in case of deviation beyond a value determined threshold (D) a second object information being generated which indicates whether, due to the intensity difference, an object is in the hazardous edge area and a "safety" signal being generated by the evaluation unit (18) when the first or second object information is positive.
    公开号:BE1026227B1
    申请号:E201805384
    申请日:2018-06-11
    公开日:2019-11-26
    发明作者:Théodoros Campas；Loo Sébastien Van；Marc Meyers；Jean-François Klein
    申请人:Bea Sa；
    IPC主号:
    专利说明:

    Laser scanner to monitor a surveillance area
    The invention relates to a laser scanner for monitoring a surveillance zone in front of an opening, which can be closed by means of closure, and to a device comprising at least one laser scanner and a frame element delimiting the surveillance zone.
    There are known in the state of the art laser scanners intended for automatic windows and doors. In known manner, these laser scanners include an evaluation of propagation time to determine a distance from the laser scanner and to make an assignment to a surveillance zone. In this case, individual laser pulses, which are each associated with an angle and which are emitted by the laser scanner, are reflected by an object. The reflection is evaluated by means of a propagation time measurement. It is thus possible to detect the position of an object in the surveillance zone. If the position is in an area defined as a dangerous area, a so-called "safety" signal is sent regularly to a control unit to prevent an object from being trapped by the automatic closing means, in particular a door. or a window. A positive “safety” signal regularly commands the control unit of the closing means to stop or reverse the closing movement.
    Document DE 10 2006 043 615 DE teaches that a laser scanner comprising a transmitting unit and a receiving unit can be used to detect an object in a surveillance zone. The signal obtained is compared with a reference signal, the reference signal being able to be correlated with a door movement. A comparison is made both to measure the propagation time and to measure the reflectivity.
    BE2018 / 5384
    The object of the invention is to provide the most reliable detection possible of an object in danger in the dangerous zone "Safety zone". High reliability must also be obtained when the danger zone is close to a frame delimiting the surveillance zone. This must be applicable in particular to small objects.
    The object is achieved by the features of claim 1.
    The subclaims represent advantageous developments of the invention.
    According to the invention, a laser scanner is intended for monitoring a surveillance zone situated in front of an opening which can be closed by a closing means, as described below. The laser scanner determines, by measuring the propagation time of a transmitted and received laser pulse, the position of an object in the surveillance zone. The surveillance zone includes at least one danger zone, a “safety” signal being emitted by the laser scanner when an object is detected in the danger zone. The propagation time measurement makes it possible to generate a first object information which indicates whether an object has been detected in the dangerous edge zone by the measurement of the propagation time. In addition, the intensity of the received laser pulse is evaluated and the detected intensity is compared with a reference intensity stored in a storage unit of the laser scanner. In the event of a deviation beyond a determined threshold value, a second object information is produced which indicates whether an object is in the dangerous edge area on the basis of the intensity deviation. The hazardous edge area is the area near which the surveillance area is physically bounded by a frame and which is defined as a hazardous area.
    BE2018 / 5384
    It is intended to determine a distance from an edge area which is in the vicinity of the frame. A problem which arises at the edge zone is that the measurement of the propagation time in this edge zone can only be imprecise. This makes it difficult to detect small objects in this area. The zone, in which one cannot make a reliable distinction between a small object and the background formed by the frame, is designated by gray zone. The accuracy of the propagation time measurement, which is detected by the reflected light pulse, also depends on the difference between the reflectance of the object and that of the background.
    Based on the intensity received, an error correction of the propagation time measurement can also be performed to allow a more precise evaluation of the position.
    A large difference in reflectivity results in a large difference which affects the size of the gray area in the border area of the frame.
    According to the invention, it is planned to carry out an intensity comparison between the background and the current object measurement. If the measured intensity deviates beyond a predefined threshold value, a detection is signaled, even if a propagation time measurement does not lead to a detection result inside the frame.
    The intensity difference is the value of the difference between the reference intensity and the object's intensity.
    In this way, the inaccuracy of the measurement of the propagation time in the gray area at an edge can be
    BE2018 / 5384 eliminated. This guarantees high detection reliability even for small objects.
    The laser scanner scans in a scanning process with laser pulses distributed in a sector u plane which covers in projection the opening to be monitored, in particular parallel to the opening plane.
    The intensity is detected by means of the evaluation of the pulse width received. The detector used is an avalanche photodiode.
    Preferably, the intensity is averaged over a plurality of successive laser pulses for a point and a formed net means which is compared to a reference average.
    The reference current is recorded during commissioning and optionally cyclically and stored in the storage unit. The reference intensity can be corrected by the laser pulses detected during the measurement. In particular, a correction is made with each measurement, in which no detection is determined for the measured laser pulse. Continuous adaptation to environmental changes can thus be carried out.
    If there is a first object information which represents an object in the surveillance zone, a “Security” signal is emitted at the output of the laser scanner.
    If there is at the same time a second object information which represents an object in the surveillance zone, a comparison is made with the approximately simultaneous object information.
    BE2018 / 5384
    The sensor includes an electronic evaluation unit for evaluating the propagation time and the intensity. In addition, the evaluation unit includes a filter, the properties of the filter affecting the size of the gray area.
    In addition, it is possible that the surveillance zone includes, in addition to the dangerous edge zone, other detection zones which can trigger, for example, an activation. For these zones, it can be planned to take an object into account in such a zone only for the measurement of the propagation time. This results in a more robust detection behavior of the laser scanner. It is not necessary to take into account the intensity measurement for the danger zone since it is not an edge zone.
    The size of the defined edge area is regularly about 2 cm to 5 cm. This size depends among other things on the filters used to evaluate the propagation time information. In another aspect, the invention relates to a device comprising an at least partially circular frame, a closing means serving to close the opening formed by the frame and a laser scanner described above, the laser scanner being mounted on the frame. so that the frame at least partially delimits the surveillance area of the laser scanner.
    Preferably, the laser scanner is mounted in a corner of the frame.
    In addition, the device may include a control unit intended to control the closing means, in particular a window, which cooperates with the laser scanner.
    Other advantages, characteristics and possible applications of the present invention will emerge from the following description in
    BE2018 / 5384 link with the examples of embodiment illustrated in the drawings.
    In the description, claims and drawings, the terms and associated reference numbers used in the list of reference numbers below are used. In the drawings:
    Figure 1 shows a laser scanner of the invention;
    FIG. 2 represents a schematic view of a device of the invention without object in the detection zone;
    FIG. 3 represents a schematic view of a device of the invention with an object in the detection zone and in the edge zone, and FIG. 4 represents a diagrammatic flowchart.
    FIG. 1 represents a laser scanner 10 according to the invention which comprises a transmission and reception unit 12 which can transmit laser pulses over an angular range and which can receive the laser pulses reflected by an object 22. The laser pulses received are analyzed in a propagation time detection means 14 and in an intensity detection means 16. In addition, an evaluation unit 18 is provided which makes a decision as a function of values generated by the transmission detection means. propagation time 14 and the intensity detection means 16 for knowing whether a positive "safety" signal must be delivered to the "safety" output 20 so that a control unit can be placed in the safety mode. To carry out the evaluation, the evaluation unit 18 accesses reference values which are stored in a storage unit 24. The mode of
    BE2018 / 5384 exact operation of the evaluation unit is shown in more detail in Figure 4.
    FIG. 2 represents a device 30 according to the invention, comprising a frame 34 and a laser scanner made in the form of a laser scanner 32. The laser scanner 32 sends laser pulses which can be reflected by an object in a surveillance zone 36 or the frame 34 delimiting the surveillance zone.
    The propagation time is determined by the emission of the laser pulse until the reflection is detected. Based on the propagation time, it is possible to detect the position of an object inside the frame 34 in the surveillance zone
    36. This type of detection has its limits due to the accuracy of the measurement of the propagation time for small objects in the edge zone 38 of the surveillance zone 36 in the vicinity of the frame 34.
    The edge zone 38, which is represented as being delimited by the dotted line, extends from the lower edge to the right edge of the frame 34 and is classified at the level of the right edge also as a danger zone 40. In this zone, the edge zone 38 represents a dangerous edge zone 42 which must be evaluated reliably.
    According to the invention, the intensity of the reflected laser pulse is evaluated in the dangerous edge zone 42 in addition to the propagation time. The evaluation is carried out, as shown in more detail in FIG. 4, by determining, in an initialization cycle, reference values of the frame 34 for each laser pulse. The detected intensity is compared with the reference intensity stored in the laser scanner 32. If the difference is beyond a predefined threshold value, a “safety” signal is then sent to the unit of
    BE2018 / 5384 command to control the closing means, not shown here for the sake of clarity, in particular the window so that a potential closing operation is interrupted.
    FIG. 3 represents the device 30 according to FIG. 2, two objects 44, 46 being represented in this case, the object 44 is detected by measuring the propagation time and the object 46 being able to be detected in a zone evaluation of dangerous edge taking into account the intensity measurement, although the measurement of the propagation time does not allow any unambiguous evaluation in the gray area. To measure the intensity of the laser pulse, the width of the received laser pulse is evaluated.
    FIG. 4 represents a flow diagram of the detection / identification of an object which is detected in a dangerous edge area. A propagation time measurement is also carried out which is also called Time of Flight Measurement (TOF). Based on the propagation time of the laser pulse, we associate the distance from the point, where the laser pulse is reflected, to a position in the surveillance zone or we reject it if it is outside the surveillance zone.
    Depending on the design of the locking means, a dangerous zone is obtained which is assigned to the surveillance zone. Thus, a danger zone is defined in the surveillance zone, if an object in the danger zone has to be detected and if a so-called “safety” signal has to be delivered via the evaluation unit.
    If the surveillance zone in the danger zone is delimited by a physical frame, a dangerous edge zone is obtained. In this edge area, an evaluation of the propagation time measurement cannot always be
    BE2018 / 5384 precise enough to allow the detection of a small object. The position of the edge area is detected during the commissioning of the laser scanner in an initialization phase with a measurement
    TOF and its reflectivity is measured by means of the reflected laser pulse which is stored as a reference value for the corresponding measurement point in a memory of the laser scanner.
    Thus, during the evaluation of the TOF measurement, it is decided whether the value of the TOF distance measurement is greater than the distance from the defined dangerous edge area.
    If this is the case, an assessment of the dangerous edge area is carried out. During the evaluation of the dangerous edge zone, a second object information is created in addition to a first object information which is obtained from the TOF measurement. The second object information indicates whether a difference in the reflectivity of the laser pulse which has just been measured is greater than the measurement value of an associated reference reflectivity which reflects the reflection power of the frame. The reflectivity is evaluated as a function of the intensity of the laser pulse received and determined on the basis of the determined pulse width. If the value of the difference between the intensity and the reference intensity is greater than the threshold value D, a second positive object information is produced, otherwise a second negative object information is produced.
    If the value of the TOF measurement of the reflected point is in the dangerous edge zone, a second positive object information is also produced, otherwise a second negative object information is also produced.
    BE2018 / 5384
    The evaluation unit issues a positive "safety" signal if the first object information or the second object information is positive.
    In this way, in the edge area in which particularly large inaccuracies occur in the TOF measurement, these can be largely eliminated if there is a large difference between the reflectivity of the object and that of the frame. underlying, using the intensity information 10 used for this purpose.
    So even small objects in the danger zone can be detected.
    If the intensity deviation is less than the threshold value
    D, the stored reference reflectivity is corrected with this value.
    List of reference numbers
    BE2018 / 5384 laser scanner transmission and reception unit propagation time measurement detection intensity detection evaluation unit
    "Security" output memory device device laser scanner frame surveillance zone edge zone dangerous zone dangerous edge zone first object second object
    D threshold value
    权利要求:
    Claims (10)
    [1]
    claims
    1. Laser scanner (10, 32) for monitoring a surveillance zone (36) located in front of an opening which can be closed by a closure means, the design of which defines a dangerous zone (40) in the surveillance zone (36 ), the surveillance zone (36) being delimited at least on one side by a frame (34) in front of which is an edge zone (38) comprising the laser emission and reception unit (12), a means of propagation time detection (14) being further provided which determines by a measurement of the propagation time (TOF (RP)) of a laser pulse emitted and received the position of an object (22, 44, 46) in the surveillance zone (36), an evaluation unit (18) being provided which generates a first object information which indicates whether an object has been detected by the propagation time measurement means, a detection means intensity (16) being further provided which evaluates the intensity (I (RP)) of the received laser pulse and which compares the detected intensity (I (RP)) with reference intensity (I REF) stored in a storage unit (24), in the event of deviation beyond a determined threshold value (D) a second object information being produced which indicates whether, due to the intensity difference, an object is in the dangerous edge area and a "safety" signal being generated by the evaluation unit (18) when the first or second object information is positive.
    [2]
    2. Laser scanner according to claim 1, characterized in that the laser transmitter and receiver unit (12) comprises an avalanche photodiode.
    [3]
    3. Laser scanner according to one of the preceding claims, characterized in that the intensity detection (16) is carried out by the evaluation of the pulse width.
    [4]
    4. Laser scanner according to one of the preceding claims, characterized in that an initialization means is provided which allows an initialization of the laser scanner, the reference intensity (I ref ) of a frame (34) in the surveillance zone (36) being stored in the storage unit (24) during initialization.
    [5]
    5. Laser scanner according to claim 4, characterized in that the surveillance zone (36), the dangerous zone (40), the edge zone (38) and the dangerous edge zone (42) are determined during the initialization.
    [6]
    6. Device (30) comprising an at least partially circular frame, a closing means serving to close the opening formed by the frame (34) and a laser scanner (32) according to one of the preceding claims, the scanner laser (32) being
    mounted the level of frame of so the frame (34) limit at less partially The area surveillance (36) of to scan at laser (32).
    [7]
    7. Device according to claim 6, characterized in that the sensor (32) is mounted in the corner area of the frame (32).
    [8]
    8. Device according to claim 6 or 7, characterized in that the frame (34) is part of a window or a window frame.
    [9]
    9. Device according to one of claims 6 to 8, characterized in that the closing means is controlled by a control unit which is connected to the laser scanner.
    [10]
    10. Device according to one of claims 6 to 9, characterized in that the closing means is a window.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    2019-12-16| FG| Patent granted|Effective date: 20191126 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102017113237.6A|DE102017113237A1|2017-06-16|2017-06-16|Laser scanner for monitoring a surveillance area|
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