WO2020002778A1 - Procédé et système d'étalonnage d'un capteur - Google Patents

Procédé et système d'étalonnage d'un capteur Download PDF

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Publication number
WO2020002778A1
WO2020002778A1 PCT/FI2019/050511 FI2019050511W WO2020002778A1 WO 2020002778 A1 WO2020002778 A1 WO 2020002778A1 FI 2019050511 W FI2019050511 W FI 2019050511W WO 2020002778 A1 WO2020002778 A1 WO 2020002778A1
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WO
WIPO (PCT)
Prior art keywords
sensor
detection
light
pattern
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/FI2019/050511
Other languages
English (en)
Inventor
Kristian Törnqvist
Juha MAJA
Or AVIRAM
Önder GURKAN
Patrick Ellis
Jukka PUHAKKA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Angular Velocity Oy
Original Assignee
Angular Velocity Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Angular Velocity Oy filed Critical Angular Velocity Oy
Publication of WO2020002778A1 publication Critical patent/WO2020002778A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/02—Means for marking measuring points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G01C15/006—Detectors therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G01C9/02—Details
    • G01C9/06—Electric or photoelectric indication or reading means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/51—Display arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements

Definitions

  • the disclosure relates to a method and a system for calibration of a sensor, such as a light or laser based sensor and particularly to a portable sensor for monitoring of the surroundings for example at a sports arena, such as a bowling court, a curling rink, a track or racing track or a warehouse or another open space where motion of an object or a person is to be monitored.
  • a sensor such as a light or laser based sensor
  • a portable sensor for monitoring of the surroundings for example at a sports arena, such as a bowling court, a curling rink, a track or racing track or a warehouse or another open space where motion of an object or a person is to be monitored.
  • sensors for scanning the environment have been set up by being placed at a suitable spot in the area to be monitored and then been manually adjusted in one direction, checked by the user, by the user moving a beam detector to a point in the area to check the results of the adjustment, then adjusting again and checking another point in the area with a beam detector, doing more adjustments and usually ending up in rechecking the first point again and so on.
  • This is very time consuming and frustrating for the user.
  • the scanner or sensor may be placed permanently this may not be a problem, but with small modern portable scanners or sensors which may be moved between locations, this is a problem.
  • the object of the present invention is to provide an improved system for calibration of a light or laser-based sensor or scanner, where at least one of disadvantages of the prior art is eliminated or at least alleviated.
  • the objects of the present invention are achieved with a system, method and computer program product according to the characterizing portions of the independent claims.
  • the present invention is directed to a method for calibration of a sensor or a scanner comprising the steps of placing the sensor in the area to be monitored, placing detection plates in at least two positions in the area to be monitored, adjusting the height of the sensor to a desired height wherein a reflection from the detection plates is detected by the sensor and displayed on a screen in order for the user to be able to find the optimal height adjustment for the sensor for a specific purpose.
  • the invention is further directed to a system for calibration of a sensor or scanner, comprising means for carrying out said method.
  • the invention is further directed to a detection plate comprising a background surface with low reflection and an asymmetrical pattern on the background surface made from a material with high reflection that is used in the system according to the invention and when carrying out the method according to the invention.
  • Figure 1 illustrates one detection plate and asymmetrical pattern according to the invention.
  • Figure 2 illustrates another detection plate and asymmetrical pattern according to the invention
  • Figure 3 illustrates another detection plate and asymmetrical pattern according to the invention
  • Figure 4 illustrates another detection plate and asymmetrical pattern according to the invention
  • Figure 5 illustrates an alternative embodiment where a cone is used instead of a detection plate.
  • Figure 6 shows an exemplary user interface according to the invention which may be displayed on a screen to a user.
  • the present invention is directed to a system for calibration of a sensor, comprising a sensor, a frame for the sensor, the height of which may be adjusted, wherein the sensor is placed in an area to be monitored, at least two detection plates which plates are to be placed at separate positions in an area to be detected, a monitor arranged to display the detection of reflections of signals from the sensor, in order for the user to be able to find the optimal height adjustment of the sensor.
  • the invention is also directed to a method for calibration of a sensor, comprising the steps of placing the sensor in the area to be monitored, placing detection plates in at least two positions in the area to be monitored, adjusting the height of the sensor to a desired height wherein a reflection from the detection plates is detected by the sensor and displayed on a screen in order for the user to be able to find the optimal height adjustment for the sensor for a specific purpose.
  • the invention is directed to a detection plate comprising a background surface with low reflection and an asymmetrical pattern on the background surface made from a material with high reflection.
  • the detection plate according to the invention has a background surface with a low reflection, preferably the background surface material has a matte finish to additionally reduce the reflection of light. Most preferably the background material is black or another dark colour.
  • the detection plate may be curved about a vertical axis or the detection plate may be flat.
  • the detection plate comprises a pattern on the background material, which pattern is made from a material with high reflection.
  • the pattern is preferably asymmetrical to make it easier for the user to determine what part of the pattern it is that reflects the light. If the pattern is symmetrical it is more difficult, or depending on the pattern, even impossible to determine whether the reflection comes from the desired height or not.
  • the material of the pattern has a glossy surface and most preferably the patterns is a reflector.
  • the higher the difference in reflection between the background and the patterns is the easier it is to detect the reflection from the patterns and thus achieve more reliable results.
  • the method for calibration may be used for all types of light- or laser- based sensors, regardless of whether the light source is a fixed light source or if it is pulsating one. Any Sensor that is based on sending out a light pulse and sensing the reflection will give the needed measurement data for the method according to the invention.
  • the light sent out by the sensor is reflected back to the sensor and information about distance, angle, intensity of the reflected light, and the position of the reflected light among many others are output from the sensor.
  • the measurement data i.e. the output information of the sensor is then used and processed in a control unit that processes the output values of the sensor.
  • the most relevant values for the method according to the invention is the intensity of the reflected light, which will give the information about if the light from the light source is on the correct height or not. Based on the reflection from the detection plate it can be determined in the control unit if the light beam of the sensor is reflected from a highly reflecting surface, as the light intensity of the returning light is thus higher, or from a less reflecting surface, as the light intensity of the returning light is thus low. The control unit will output this information to a screen where it is shown to the user.
  • the information will be shown to the user in a graphic format.
  • the difference in light intensity of the reflected light may be shown as different colours to distinguish to the user how much of the light is reflected from the pattern of the detection plate and how much is reflected from the background.
  • the asymmetrical pattern on the plate will also help the user in determining if the light beam is on the correct height, as it may be directly seen from the user interface what part of the light beam hits the reflective pattern.
  • the patterns on the detection plate may be according to one of the embodiments shown in figures 1 -4.
  • the pattern 2 is A-shaped on the background 1 , and the user can determine based on the width of the displayed pattern on the screen on what height the light beam hits the pattern. It is also easy to compare whether the light beam hits both or more detection plates at the same height and thus to adjust the height of the sensor.
  • the pattern 2 in figure 2 has a horizontal centreline that will make it even easier to determine when the light beam is on that specific height. This is especially useful when the user needs the sensor to scan a specific height and not just in order to get it levelled at an approximate height.
  • the patterns shown in figures 3 and 4 both have patterns 2 with a horizontal centreline and additionally asymmetrically placed vertical lines extending from the centreline up and down.
  • the vertical lines are intended for helping the user to see whether the light beam is above or below the centreline.
  • Figure 5 shows an alternative embodiment according to the invention.
  • the reflective material 2 is on the sides of a stepped cone and the top faces of the steps are made of background material.
  • Figure 6 illustrates a user interface using a detection plate according to figure 4.
  • the leftmost picture shows a case where the light beam is below the centreline, in the rightmost picture the light beam is above the centreline and the middle picture shows the light beam being at the correct height.
  • the black coloured dots represents the light that is reflected back from the reflective pattern, and the grey coloured dots are representing the light reflected from the background.
  • the user interface is showing the situation in real time, and lets the user adjust the height of the sensor while seeing the impact of any adjustments while doing them. This saves a lot of time and iterations.
  • the user interface will on the screen show e.g. in different colours or in another distinguishing manner points of reflection of light with higher intensity in a different manner than of point with lower intensity.
  • the user interface will tell the user that the sensor is too low or high. If the user interface is showing a straight line of high reflection values this will tell the user that the light beam hits the target, i.e. the centreline correctly and that the sensor is properly set up. If no values are detected, the light beam is not hitting the target at all.
  • the user interface shows the user whether the sensor should be lowered or lifted up by displaying an arrow below the image of the reflections. An ok or checkmark is shown when the set up is correct and if the target is not found at all an XX mark is shown to the user.
  • the information from the sensor is output to a control unit, which calculates and processes the data and sends it to a terminal where it is shown to the user on a screen.
  • the terminal may be a computer, a laptop, a pad or a mobile phone among others.
  • the system according to the invention preferably comprises adjustment means for adjusting the height of the sensor.
  • the adjustment means may be a rack with adjustable feet wherein the sensor is placed.
  • the rack comprises more than 2 adjustment feet, most preferably three, but also four are possible.
  • the adjustment feet may be individually adjusted in terms of height, thus being able to tilt the sensor to reach the ultimate position for the detection task at hand. For example, detecting the path of a bowling ball requires a different height to detecting movements in a ware house.
  • the user wants to calibrate a sensor for a specific task he will place the sensor in a desired location.
  • the placement depends on what is to be detected, again if the intention is to monitor movement of a bowling ball the sensor is placed on the floor, in some other case the sensor may be places higher if the intention is to detect movement at that height.
  • the detection plates are then placed at a distance from the sensor. The distance may be chosen according to the sensor used for the task, preferably the detection plates are placed inside the range of the sensor in order to be able to detect a reflection from the detection plates. At least two detection plates are used. The most optimal number being three detection plates in order to cover an open area, but in some cases more detection plates may be needed, for example if the ground is very uneven or a lot of obstacles are present or the detected are is 360° around the sensor.
  • the user checks the data coming from the sensor by displaying the reflection values from each of the detection plates on the screen. Then he adjusts the sensor by tilting it for each set of data from each detection plate until the reflections from all detection plates show that the sensor is in the correct position. This can all be done without leaving the side of the sensor, which will save a lot of time and is more accurate than using a beam detector by moving it to different locations around the sensor.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Input By Displaying (AREA)
  • Facsimile Scanning Arrangements (AREA)

Abstract

La présente invention concerne un procédé d'étalonnage d'un capteur ou d'un système de balayage comprenant les étapes consistant à placer le capteur dans la zone à surveiller, à placer des plaques de détection à au moins deux positions dans la zone à surveiller, et à régler la hauteur du capteur à une hauteur souhaitée, une réflexion provenant des plaques de détection étant détectée par le capteur et affichée sur un écran afin qu'un utilisateur puisse trouver le réglage optimal de la hauteur du capteur à des fins spécifiques. L'invention concerne également un système d'étalonnage d'un capteur, le système comprenant un capteur, un cadre pour le capteur, dont la hauteur peut être réglée, le capteur étant placé dans une zone à surveiller, au moins deux plaques de détection devant être placées à des positions séparées dans une zone à détecter, et un moniteur conçu pour afficher la détection de réflexions de signaux provenant du capteur, afin que l'utilisateur puisse trouver le réglage optimale de la hauteur du capteur. L'invention concerne en outre une plaque de détection comprenant une surface d'arrière-plan à faible réflexion et un motif asymétrique sur la surface d'arrière-plan constitué d'un matériau à haute réflexion, qui est utilisée dans le système de l'invention et lors de la mise en oeuvre du procédé de l'invention.
PCT/FI2019/050511 2018-06-28 2019-06-27 Procédé et système d'étalonnage d'un capteur Ceased WO2020002778A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20185595A FI128636B (en) 2018-06-28 2018-06-28 METHOD AND SYSTEM FOR CALIBRATION OF THE SENSOR
FI20185595 2018-06-28

Publications (1)

Publication Number Publication Date
WO2020002778A1 true WO2020002778A1 (fr) 2020-01-02

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ID=67297194

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Application Number Title Priority Date Filing Date
PCT/FI2019/050511 Ceased WO2020002778A1 (fr) 2018-06-28 2019-06-27 Procédé et système d'étalonnage d'un capteur

Country Status (2)

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FI (1) FI128636B (fr)
WO (1) WO2020002778A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100256940A1 (en) * 2008-12-25 2010-10-07 Kabushiki Kaisha Topcon Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration
US20130258340A1 (en) * 2012-03-27 2013-10-03 Jenoptik Robot Gmbh Testing apparatus and testing method for a traffic monitoring device with a laser scanner
EP3176606A2 (fr) * 2015-11-16 2017-06-07 Sick Ag Procédé destiné à l'alignement d'un scanner laser

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100256940A1 (en) * 2008-12-25 2010-10-07 Kabushiki Kaisha Topcon Laser scanner, laser scanner measuring system, calibration method for laser scanner measuring system and target for calibration
US20130258340A1 (en) * 2012-03-27 2013-10-03 Jenoptik Robot Gmbh Testing apparatus and testing method for a traffic monitoring device with a laser scanner
EP3176606A2 (fr) * 2015-11-16 2017-06-07 Sick Ag Procédé destiné à l'alignement d'un scanner laser

Also Published As

Publication number Publication date
FI128636B (en) 2020-09-15
FI20185595A1 (en) 2019-12-29

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