Laser scanner for monitoring a monitoring region

Abstract

Laser scanner monitors region in front of an opening. Monitoring region is delimited by a frame, in front of which an edge region is located. Propagation time sensing means determines position of an object in the monitoring region by a propagation time measurement of laser pulse, an evaluation unit being provided, by means of which first object information is produced, whether an object was sensed by the propagation time measurement. An intensity sensing means evaluating received laser pulse with respect to the intensity thereof and the sensed intensity is compared with a reference intensity stored in a memory unit. Second object information being provided in the event of deviation beyond a certain threshold value, whether an object is located in the hazard edge region on the basis of the intensity deviation. A safety signal generated by the evaluation unit if first or second object information is positive.

Claims

1-10. (canceled)

11. Laser scanner (10, 32) for monitoring a monitoring region (36) in front of an opening that can be closed by a closing means, the design of which closing means defines a hazard region (40) in the monitoring region (36), the monitoring region (36) being delimited at least on one side by a frame (34), in front of which an edge region (38), comprising a laser transmitting/receiving unit (12), furthermore a propagation time sensing unit (14) being provided which determines the position of an object (22, 44, 46) in the monitoring region (36) by means of a time of flight measurement (TOF(RP) of a transmitted and received laser pulse, an evaluation unit (18) being provided by means of which first object information is produced, namely whether an object was sensed in a hazard edge region (42) by the propagation time measurement, furthermore an intensity sensing means (16) being provided, by means of which the received laser pulse is evaluated with respect to its intensity (1(RP)) and the detected intensity (1(RP)) is compared with a reference intensity (I.sub.REF) stored in a memory unit (24), second object information being provided in the event of deviation beyond a certain threshold value (D), if the propagation time sensing means (14) does not detect any object in the hazard region (40) outside the hazard edge region (42), namely, on the basis of the intensity deviation, whether an object is located in the hazard edge region (42), and a safety signal being generated by the evaluation unit (18) if either the first or the second object information is positive.

12. Laser scanner according to claim 1, characterized in that the laser transmitting/receiving unit (12) comprises an avalanche photodiode.

13. Laser scanner according to claim 1, characterized in that the intensity sensing (16) is performed by means of pulse width evaluation.

14. Laser scanner according to claim 1, characterized in that an initialization device is provided which enables an initialization of the laser scanner, with the reference intensity (I.sub.REF) of a frame (34) in the monitoring region (36) being stored in the memory unit (24) during initialization.

15. Laser scanner according to claim 4, characterized in that the monitoring region (36), the hazard region (40), the edge region (38) and the hazard edge region (42) are defined during initialization.

16. Arrangement (30) comprising an at least partially circumferential frame, a closing means for closing the opening formed by the frame (34), and a laser scanner (32) according to claim 1, the laser scanner (32) being mounted on the frame in such a way that the frame (34) at least partially delimits the monitoring region (36) of the laser scanner (32).

17. Arrangement according to claim 6, characterized in that the sensor (32) is mounted in the corner portion of the frame (32).

18. Arrangement according to claim 6, characterized in that the frame (34) is part of a window or a window reveal.

19. Arrangement according to one of claims 6, characterized in that the closing means is controlled by a control unit that is connected to the laser scanner.

20. Arrangement according to one of claims 6, characterized in that the closing means is a window.

21. Laser scanner according to claim 2, characterized in that the intensity sensing (16) is performed by means of pulse width evaluation.

22. Laser scanner according to claim 2, characterized in that an initialization device is provided which enables an initialization of the laser scanner, with the reference intensity (I.sub.REF) of a frame (34) in the monitoring region (36) being stored in the memory unit (24) during initialization.

23. Laser scanner according to claim 3, characterized in that an initialization device is provided which enables an initialization of the laser scanner, with the reference intensity (I.sub.REF) of a frame (34) in the monitoring region (36) being stored in the memory unit (24) during initialization.

24. Arrangement (30) comprising an at least partially circumferential frame, a closing means for closing the opening formed by the frame (34), and a laser scanner (32) according to claim 2, the laser scanner (32) being mounted on the frame in such a way that the frame (34) at least partially delimits the monitoring region (36) of the laser scanner (32).

25. Arrangement (30) comprising an at least partially circumferential frame, a closing means for closing the opening formed by the frame (34), and a laser scanner (32) according to claim 3, the laser scanner (32) being mounted on the frame in such a way that the frame (34) at least partially delimits the monitoring region (36) of the laser scanner (32).

26. Arrangement according to claim 7, characterized in that the frame (34) is part of a window or a window reveal.

27. Arrangement according to one of claims 7, characterized in that the closing means is controlled by a control unit that is connected to the laser scanner.

28. Arrangement according to one of claims 7, characterized in that the closing means is a window.

29. Arrangement according to one of claims 8, characterized in that the closing means is a window.

30. Arrangement according to one of claims 9, characterized in that the closing means is a window.

Description

[0026] Throughout the description, claims and drawings, those terms and associated reference signs are used as are specified in the list of reference signs below. In the drawings:

[0027] FIG. 1 is a laser scanner according to the invention;

[0028] FIG. 2 is schematic view of an arrangement according to the invention where there is no object in the detection region;

[0029] FIG. 3 is a schematic view of an arrangement according to invention where there is an object in the detection region and in the edge region, and

[0030] FIG. 4 is a schematic flow chart.

[0031] Fig.1 shows a laser scanner 10 according to the invention having a laser scanner transmitting and receiving unit 12 capable of transmitting laser pulses over an angular range and of receiving the laser pulses reflected by an object 22. The received laser pulses are then analyzed in a propagation time sensing means 14 and an intensity sensing means 16. Furthermore, an evaluation unit 18 is provided which makes a decisionbased on the values generated by the propagation time sensing means 14 and the intensity sensing means 16as to whether a positive safety signal is to be output at the safety output 20, whereby a control unit can be set to a safety mode. For evaluation, the evaluation unit 18 uses reference values that are stored in a memory unit 24. The exact function of the evaluation unit will be described in more detail with reference to FIG. 4.

[0032] FIG. 2 shows an arrangement 30 according to the invention, comprising a frame 34 and a laser scanner designed as a laser scanner 32. The laser scanner 32 emits laser pulses that can be reflected by an object in a monitoring region 36 or a frame 34 delimiting the monitoring region.

[0033] The propagation time from the emission of the laser pulse to the detection of the reflection is determined. The propagation time can be used to detect the position of an object within the frame 34 in the monitoring region 36. Owing to the accuracy of the propagation time measurement for small objects, this type of detection reaches its limits in the edge region 38 of the monitoring region 36 near the frame 34.

[0034] The edge region 38, delimited by the dashed line in the drawing, extends from the lower edge over the right edge of the frame 34 and is also considered a hazard region 40 at the right edge. In this region, the edge region 38 represents a hazard edge region 42 which is to be evaluated in a reliable manner.

[0035] According to the invention, in addition to the propagation time, also the intensity of the reflected laser pulse is evaluated in the hazard edge region 42. The evaluation is carried out as described in more detail with reference to FIG. 4, by determining the reference values of frame 34 for each laser pulse in an initialization cycle. The sensed intensity is compared to the reference intensity stored in the laser scanner 32. If the deviation exceeds a predefined threshold value, a safety signal will be sent to the control unit to control the closing means (not shown here for reasons of clarity), in particular the window, with the result that a potential closing process will be interrupted.

[0036] FIG. 3 shows the arrangement 30 of FIG. 2, with two objects 44, 46 being illustrated in this case, of which object 44 is detected by means of the propagation time measurement and object 46 can be detected in an evaluation of the hazard edge region taking into account the intensity measurement, although the propagation time measurement in the gray zone does not permit an unambiguous evaluation. To measure the intensity of the laser pulse, the pulse width of the received laser pulse is evaluated.

[0037] FIG. 4 shows a flow chart for detecting sensing an object that is detected in a hazard edge region. A propagation time measurement is performed, which is also referred to as time of flight (TOF) measurement. Using the propagation time of the laser pulse, the distance of a point off which the laser pulse is reflected is assigned to a position in the monitoring region, or is discarded if it is outside the monitoring region.

[0038] Depending on the design of the closing means, there is a hazard region which is assigned to the monitoring region. Thus a hazard region is defined in the monitoring region, if an object is detected in the hazard region, a so-called safety signal will be output by the evaluation unit.

[0039] If the monitoring region is delimited by a physical frame in the hazard region, this will result in a hazard edge region. In this edge region, an evaluation of the propagation time measurement cannot always be carried out with sufficient accuracy to allow the detection of a small object.

[0040] During initial operation of the laser scanner, in an initialization run thereof, the position of the edge region is detected by means of a TOF measurement and its reflectivity is measured by means of the reflected laser pulse, which is stored as a reference value for the corresponding measuring point in a memory of the laser scanner.

[0041] Therefore, when the TOF measurement is evaluated, it is decided whether the value of the TOF distance measurement is greater than the distance from the defined hazard edge region.

[0042] If this is the case, a hazard edge region evaluation is carried out. During such hazard edge region evaluation, besides first object information obtained from the TOF measurement, second object information is produced. The second object information shows whether a deviation of the reflectivity of the currently measured laser pulse is greater than the measured value of an assigned reference reflectivity, which reflects the reflectivity of the frame. The reflectivity is evaluated as a function of the intensity of the received laser pulse, and

[0043] is determined from the pulse width. If the amount of the difference between intensity and reference intensity is above the threshold value D, the second object information provided will be positive, otherwise negative.

[0044] If the value of the TOF measurement of the reflected point lies in the hazard edge region, the first object information provided will also be positive, otherwise negative.

[0045] The evaluation unit will output a positive safety signal if the first object information or the second object information is positive.

[0046] In this way, in the edge region, where particularly large inaccuracies occur in the TOF measurement when there is a large difference between the reflectivity of the object and the frame behind ft can be largely eliminated by using the intensity information for this purpose.

[0047] Consequently, even small objects will be detected in the hazard region.

[0048] If the deviation of the intensity is less than the threshold value D, the stored reference reflectivity is corrected with this value.

LIST OF REFERENCE SIGNS

[0049] 10 laser scanner

[0050] 12 laser scanner transmitting/receiving unit

[0051] 14 propagation time sensing means

[0052] 16 intensity sensing means

[0053] 18 evaluation unit

[0054] 20 safety output

[0055] 22 object

[0056] 24 memory

[0057] 30 arrangement

[0058] 32 laser scanner

[0059] 34 frame

[0060] 36 monitoring region

[0061] 38 edge region

[0062] 40 hazard region

[0063] 42 hazard edge region

[0064] 44 first object

[0065] 46 second object

[0066] D threshold