WO2020229189A1 - Système de détection tof doté d'un dispositif d'éclairage comprenant un réseau de sources lumineuses individuelles - Google Patents

Système de détection tof doté d'un dispositif d'éclairage comprenant un réseau de sources lumineuses individuelles Download PDF

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Publication number
WO2020229189A1
WO2020229189A1 PCT/EP2020/061962 EP2020061962W WO2020229189A1 WO 2020229189 A1 WO2020229189 A1 WO 2020229189A1 EP 2020061962 W EP2020061962 W EP 2020061962W WO 2020229189 A1 WO2020229189 A1 WO 2020229189A1
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WIPO (PCT)
Prior art keywords
scene
sensor system
light sources
light
lighting
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PCT/EP2020/061962
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German (de)
English (en)
Inventor
Heinz Macher
Urs Hunziker
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Bircher Reglomat AG
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Bircher Reglomat AG
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Publication of WO2020229189A1 publication Critical patent/WO2020229189A1/fr
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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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/142—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using image capturing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/144—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using light grids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
    • F16P3/147—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact using electro-magnetic technology, e.g. tags or radar
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S7/499—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using polarisation effects
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/005—Optical components external to the laser cavity, specially adapted therefor, e.g. for homogenisation or merging of the beams or for manipulating laser pulses, e.g. pulse shaping
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/42—Arrays of surface emitting lasers
    • H01S5/423—Arrays of surface emitting lasers having a vertical cavity

Definitions

  • the present invention relates to a sensor system and a method for three-dimensional detection of a scene based on time of flight measurements.
  • the present invention also relates to a use of such a sensor system.
  • closing bodies operated by means of actuators are often used, which for
  • Operators facilitate the handling of the relevant closure body or are operated automatically without any operator action, for example when an object to be passed through the opening comes into the area of the opening.
  • Such an opening can be a passage in a building, for example.
  • a closing body can be a door, for example.
  • such a sensor system can be used in some applications automatic opening and / or closing of the closure body or the
  • a 3D sensor system for the application area of monitoring automatically opening doors, which is based on the principle of measuring the transit time of light beams emitted by lighting sources and after at least partial reflection or 180 ° backscattering can be detected by a light receiver.
  • TOF sensor systems are generally referred to as “time-of-flight” (TOF) sensor systems.
  • TOF sensor systems have the disadvantage that with
  • the intensity of the measurement light to be detected (backscattered) by a light receiver of the TOF sensor is weakened in two ways. In the case of a point illumination light source without special focusing, this is scaled
  • Attenuation of the illumination light emitted by the illumination sources with l / d / 2, where d is the distance to the illumination light source. The same applies to the measuring light if you have a point on the object where the
  • Illuminating light is scattered isotropically, perceived as a point light source. As a result, in this case this leads to a l / d 'scaling of the intensity of the
  • the intensity attenuation is correspondingly lower, but nevertheless contributes to a significant loss of light output. This in turn leads to a
  • WO 2018/064745 A1 a system for the automatic monitoring of an opening is known, which can be closed by two sliding doors.
  • 3D cameras are used, which are based on the TOF principle.
  • a spatial area to be recorded around a movement area of the sliding doors is divided into two sub-areas that are separate from one another be evaluated.
  • attention is paid to security in order to prevent an object from being trapped by the sliding doors.
  • an image evaluation takes place with regard to a different purpose, for example for activating the sliding doors or for counting objects that pass through this second sub-area.
  • the present invention is based on the object, in particular in the field of the automatic monitoring of openings which can be closed by means of at least one closure body, to enable an efficient and nevertheless reliable three-dimensional detection of a scene from an energetic point of view.
  • a sensor system for three-dimensional detection of a scene has (a) an illumination device for illuminating the scene with illuminating light; (b) a measuring device (bl) for receiving measuring light, which is at least partially back-scattered illumination light from at least one object contained in the scene, and (b2) for measuring
  • the lighting device an array of individual light sources, which generates a spatial grid of lighting points in the scene.
  • the sensor system described is based on the knowledge that the light intensity generated by the selective illumination of the scene
  • Lighting points can be particularly large locally without having to provide a strong lighting intensity over the entire scene. This is compared to a continuously flat bright
  • Hitting structure in the scene lie at least in relation to the angle of the individual light beams emitted by the lighting device
  • Angular reference means that the light rays from the individual light sources are projected in the scene in such a way that the lighting points form a regular spatial grid of lighting points in a virtual plane of the scene, which plane is oriented perpendicular to a central optical center axis of the lighting device.
  • This regular spatial grid is distorted by inclined projection surfaces and especially on three-dimensional objects that are in the scene.
  • Solid angle range generates a backscattered measuring light beam that has a comparatively high light intensity. This also applies if at least one optical component is used which expands the entirety of the light beams of illuminating light emitted by the plurality of individual light sources and / or the entirety of the backscattered light detected by the measuring device from the plurality of illumination points. In any case, for each resolution pixel of the measuring device an im
  • surfaces of objects to be detected are optically mostly of a heterogeneous structure and have a locally different structure
  • Illumination areas are generated in the respective room segment. This increases the probability that at least one of the individual light beams of the illuminating light hits a highly reflective sub-area of an object and is reflected or scattered particularly strongly by it. As a result, a resolution pixel of the sensor system is generated for the measuring device, which is based on The high intensity of the received measurement light generates a signal with a high signal-to-noise ratio.
  • scene can in particular be understood to mean that spatial area which is evaluated by the sensor system using image processing methods, the scene being recorded in a certain spatial area. Objects in the scene are recognized by suitable image evaluation.
  • Data processing device on known methods for image evaluation and / or image analysis can be used.
  • the data processing device can accordingly be and / or have a special image processing processor, the image processing processor being configured to use or carry out known methods for image evaluation and / or image processing.
  • the term “illuminating light” is to be understood as meaning those electromagnetic waves which are emitted by the individual light sources of the illuminating device and strike the relevant at least one object in the scene.
  • the “measuring light” are the electromagnetic waves that are scattered back from or on the object, which are received by the measuring device or a light receiver of the measuring device and used for the three-dimensional evaluation of the scene.
  • optical and / or “light” can refer to electromagnetic waves that have a specific wavelength or frequency or a specific spectrum of wavelengths or frequencies.
  • the electromagnetic waves used can be assigned to the spectral range that is visible to the human eye.
  • electromagnetic waves assigned to the ultraviolet (UV) or the infrared (IR) spectral range can also be used.
  • UV ultraviolet
  • IR infrared
  • the IR spectral range can extend into the long-wave IR range Wavelengths between 3.5 pm to 15 pm, which by means of the
  • Light receiver of the sensor can be detected.
  • the term “object” can be understood to mean any three-dimensional physical structure which has a surface quality that leads to at least partial reflection or scattering of illuminating light and is thus visible to the measuring device through the resulting measuring light.
  • the object can be an object such as a motor vehicle or a living being such as a person.
  • the object can be a related to the
  • the movement of the object can then be determined by repeated scene detection (by comparing the different spatial positions determined with different scene detections).
  • Absolute value of the speed and / or the motion vector i.e. additionally the direction of movement can be determined.
  • the data processing device can be any processor which is configured in a suitable manner by means of a computer program in order to carry out the required tasks.
  • the data processing device can thus be operated by means of software and by means of one or more special electronic circuits, i.e. in hardware.
  • Data processing device can logically and / or in terms of equipment by means of a common processor or function block or by means of several
  • array is to be understood as meaning any regular spatial arrangement of the individual light sources.
  • the Print regularly for even distances between at least some individual light sources that are adjacent to one another.
  • An array is in particular a two-dimensional array in which the individual light sources are arranged within a common plane.
  • illumination point is to be understood in particular as an illumination spot which has a (significantly) smaller spatial extent or dimension compared to the spacing from an adjacent illumination point.
  • the size or more precisely the area, in the case of circles the diameter, of an illumination point depends in particular on the divergence of the relevant light beam that generates the illumination point.
  • the individual light sources are implemented on a chip. This has the advantage that the majority of
  • Individual light sources can be produced by means of a single (semiconductor) production process. As a result, many hundreds or even thousands of individual light sources can be generated in an efficient manner, so that the scene is illuminated with a correspondingly high number of lighting points.
  • a high number of lighting points means that, given a certain size of the scene to be recorded, the mean distance between adjacent lighting points is correspondingly small and the spatial resolution of the described sensor system is correspondingly large.
  • Individual light sources that are caused by (undesired) tolerances in a separate production of the individual light sources are greatly reduced or even eliminated.
  • individual control of the individual light sources can be used to create uniform lighting the scene can be omitted.
  • the described sensor system can thus be produced in a cost-effective manner with comparatively few (electronic) components. Since each individual (electronic) component of the sensor system always has a certain energy consumption, the overall energy consumption of the sensor system can be minimized by minimizing the number of components.
  • Such an only very slight scatter or variation of the positions of the individual light sources along the z-direction, which runs perpendicular to the main plane spanned by the x- and y-directions, enables an optical imaging of the light beams to be realized in a simple and precise manner which are emitted from all or at least from most of the individual light sources.
  • a (two-dimensional) lens array which is oriented parallel to the main plane and has a multiplicity of microlenses and / or Fresnel lenses can be used for such an optical imaging.
  • the high-precision spatial arrangement of the individual light sources can be implemented, for example, in that the individual light sources are jointly mounted on one by means of semiconductor technology
  • the individual light sources can also be arranged as discrete components by means of a high-precision assembly process on a circuit board. This a conventional SMD assembly process typically cannot provide.
  • suitable light-emitting chips can be embedded in a circuit board as individual light sources as part of high-precision circuit board production.
  • Individual light sources of the array described must meet the above condition of an extremely small position tolerance along the z-direction. In many cases it is sufficient if at least some, preferably more than 50%, more preferably more than 80% and even more preferably more than 95% of the individual light sources meet this condition.
  • Components can be optically precisely shaped and especially well focused. As a result, comparatively sharp lighting points can be generated, so that the concentration of the lighting energy provided by the entire array of individual light sources on the
  • Lighting points is particularly high.
  • Individual light sources are arranged in the array in such a way that their
  • two-dimensional packing density is higher than with a chessboard-like arrangement of the individual light sources. This means that the density of the Individual light sources, as they are arranged within the main plane described above, is particularly high. This also contributes to a particularly good optical focusability of the different
  • checkerboard-like arrangement is to be understood as meaning that the positions of the individual light sources are on a
  • the increase in the two-dimensional packing density described here can be achieved by providing a specific offset along the x direction with respect to two rows along the x direction, so that these “x rows” move closer to one another along the y direction can.
  • This "moving closer together” is possible because the individual light sources (in a plan view) typically do not have a purely square shape.
  • the shape can be at least approximately circular, for example.
  • the two "x-rows" can usually have a minimum distance from one another along the y-direction if the offset is exactly half the "x-distance" between two adjacent individual light sources of the respective "x-row". The same naturally also applies to the "y-rows" along the y-direction.
  • Sensor system further to an illumination light control device which is information-technically coupled with the lighting device and which is configured, individual lighting light sources or individual groups of lighting light sources of the array of individual light sources
  • Each individual light source possibly together with one or more other individual light sources, is preferably assigned to a specific solid angle area of the scene. Then, for example, individual sub-areas of the scene can be illuminated with different levels of brightness. For example, when using the described sensor system for controlling a
  • a security-relevant partial area can be illuminated more brightly than a partial area which is only relevant for an activation (movement) of the closure body.
  • Partial area can be that area in the scene which is assigned to the immediate movement of the closure body, so that objects located in this partial area potentially coincide with the moving one
  • the closing body can collide and possibly be pinched.
  • sensors typically two different types are used in conventional systems. For example, radar sensors, 3D sensors or thermal imaging cameras are used for the "activation” task.
  • thermal imaging cameras are used for the "activation” task.
  • security for example, contact persons or
  • Illumination light control device coupled in terms of information technology to the data processing device. Furthermore, the data processing device is set up in terms of program technology to cause the lighting control device to switch from a first lighting operating mode to the second lighting operating mode when at least part of an object is recognized.
  • At least a partial area of the scene can be illuminated more brightly than in the first lighting operating mode. This means that the energy requirement of the lighting device and thus of the entire sensor system is lower in the first lighting operating mode than in the second lighting operating mode.
  • Lighting operating mode can be activated, for example, in an idle state or in a stand-by operating state of the sensor system, in which the scene is only monitored with a very low level of accuracy and consequently only a comparatively weak or not very intensive one
  • an improved lighting situation can advantageously be produced after at least partial object detection, so that the object in question can be detected more precisely and / or more completely with a subsequent detection.
  • At least one third lighting operating mode can also be provided, so that the most optimal scene lighting possible can be implemented for different characteristics of the scene, depending on the situation.
  • a weighting between energetic aspects (bright lighting required more electrical energy) and the need for lighting that is as bright as possible for the purpose of reliable object detection.
  • Lighting operating mode is assigned to an illumination of a first sub-area of the scene and the second lighting operating mode is assigned to an illumination of a second sub-area of the scene.
  • one sub-area can be a security-relevant sub-area (safety area) and the other sub-area can be a so-called.
  • Be the activation area which is taken into account for an activation of the wear body, in particular for a movement of the wear body from a closed position to an open position, if in this position
  • a first number of the individual light sources are preferably assigned to the first partial area and a second number of the individual light sources are assigned to the second partial area
  • Closing edge or a closing line of a closing body energy can be saved in that this "outside partial area" is only illuminated very weakly or in extreme cases (at least at certain times) not illuminated at all.
  • the sub-areas can be spatially
  • One sub-area can also complete the other sub-area lock in.
  • different lighting operating modes can differ in particular in terms of the light intensity.
  • other characteristic light properties such as different wavelengths and / or different polarization properties can also be assigned to the different lighting operating modes.
  • a selection of the wavelength can be implemented by means of suitable wavelength-dependent filters.
  • the polarization can be selected by means of suitable polarizers or polarization-sensitive filters.
  • the described division of the scene into different sub-areas can also take place dynamically, for example as a function of an interim "prior detection" of an object or of the operating state of an external component, for example a closure body for an opening.
  • the dynamic division can go so far that in one of the two lighting operating modes the size of a partial area is zero. This means that there is then no spatial division into (at least) two sub-areas.
  • Such a “shrinkage to size zero” can be useful, for example, when the closure body is at rest, preferably in its closed position. Then there is no need to worry about a collision with an object because the
  • Closing body can only move in the direction of its open position.
  • the entire spatial area is divided into (at least) two partial areas.
  • Single light sources lasers especially VCSEL.
  • Speckle patterns leads. These speckle patterns can be used by a light detector of the measuring device to improve the accumulation of photons and thus to increase the sensitivity of the TOF measurement.
  • speckles leads to a pseudo-random pattern of lighter and darker zones on the light detector.
  • first locations are created at which a first array of individual light sources is dominantly illuminated and to which a first measuring light is assigned, which is a second light detector ensures increased photon accumulation.
  • second locations arise in the scene at which a second array of individual light sources is illuminated dominantly and to which a second measuring light is assigned, which ensures increased photon accumulation at corresponding locations of a second light detector.
  • Modulation frequency occur (so-called lock-in principle).
  • Illumination light can be generated with a relatively high light intensity. This applies in particular when the individual light sources are semiconductor individual light sources such as semiconductor lasers or light-emitting diodes.
  • infrared illuminating light in many applications can be that it cannot be perceived by humans (and many animals). This means that people are not disturbed by a possibly pulsed illumination light.
  • the lighting device has at least one further array of individual light sources, which generates a further illuminating light that enters the scene Another spatial grid of lighting points generated.
  • the scene is illuminated with at least one further illuminating light, so that overall an increased intensity of illuminating light can be generated.
  • the array is assigned to a partial region of the scene and the further array is another
  • Partial region assigned to the scene The two sub-regions are different and have a certain spatial overlap. This has the advantage that a so-called “multi-sensor” sensor system can be implemented in a simple manner, with particularly reliable scene detection being possible in the overlapping area due to the redundancy of the lighting.
  • the measuring device has two light receivers, preferably embodied as semiconductor chips, with one light receiver being assigned to the array and a further light receiver being assigned to the further array.
  • the assignment can be designed in such a way that, apart from any undesirable crosstalk between (i) a measuring channel with the array and the light receiver and (ii) a further measuring channel with the further array and the further light receiver, the illuminating light from the array only from the Light receiver and the (further) illuminating light from the further array is received only by the further light receiver.
  • the array of individual light sources illuminates the scene from a first direction and the further array of individual light sources illuminates the scene from a second direction.
  • the second direction is different from the first direction.
  • the further spatial grid of lighting points in the scene is spatially offset from the spatial grid of lighting points.
  • Such an offset can also be called a
  • the array of individual light sources when the sensor system is in operation, the array of individual light sources generates the illuminating light with a predetermined modulation frequency. Furthermore, the further array of individual light sources generates the further illuminating light with a further one
  • the illumination light generated by different arrays of individual light sources can be based on
  • the angle of illumination of the illuminating light and further illuminating light are different. Information about the scattering angle can then also be obtained. This allows according to the principle of
  • Data processing device configured such that a
  • Covering characteristic of an opening can be controlled by at least one closure body.
  • the opening which is, for example, an entrance (or an exit) of a building
  • the closing body can be moved automatically between an open position (open position) and a closed position (closed position) or vice versa.
  • the data processing device of the described sensor system can be controlled by a known
  • Control system for a closure body are coupled.
  • the wear body can be any desired barrier element by means of which an opening can be temporarily at least partially closed.
  • the closing body can be, for example, (i) a sliding door, (ii) a revolving door, (iii) a turnstile, (iv) a gate, in particular a garage door, (v) a barrier, in particular at a level crossing or a vehicle entrance or Vehicle exit.
  • Data processing device has a data input for receiving an input signal which is for a current operating state of the
  • Closing body is indicative. Furthermore, the data processing device is configured, the lighting device based on the current
  • the lighting device can be controlled by the lighting light control device described above.
  • the illuminating light control device can control the illuminating device in such a way that it has a first energy consumption in a first operating mode and a second energy consumption in a second operating mode, which is smaller than the first energy consumption.
  • the described at least one array of individual light sources enables individual control of each individual light source with suitable “wiring” of the electrical connections. This can in particular be utilized to the effect that depending on the specific
  • Operating state of the closing body can be switched off individual of these sources. For example, when the door is open, as long as there is an object in the security area of the door, the intensity of the lighting in a far zone (activation area) can be reduced or the lighting in this far zone can be switched off completely because during this time the for reasons of Security required to keep the
  • Energy consumption of a 3D sensor which energy consumption is typically significantly larger than that of a 2D sensor, can be significantly reduced in a simple manner in that this 3D sensor or the 3D
  • Sensor system is always operated in an "energy saving mode" when the requirements for scene monitoring are not so great. This is the case with a 3D sensor that is used to monitor an opening made by a
  • Closing body can be closed, for example the case when the closing body is at rest or when it is in the direction of a
  • Opening position is moved. This is because the risk that an object, in particular a person who is located in a movement area of the closure body, will be trapped by the closure body is not present or at least significantly reduced.
  • the operating state of the closing body can be a state of movement and in particular can be determined by whether the closing body moves in the direction of its opening position or its closing position. Also the
  • the speed at which the closure body moves can characterize the state of movement. Furthermore, the operating state can also depend on the current position of the closure body, wherein this position can be a rest position or a current position over which the
  • the operating mode of the lighting device and / or possibly also a
  • the operating mode of the measuring device can be any type of operating mode which (also) determines the energy consumption of the entire sensor system.
  • the energy consumption can relate to the lighting device and possibly also to the measuring device.
  • a method for three-dimensional detection of a scene by means of a sensor system and in particular by means of a sensor system of the type described above.
  • the method described comprises (a) illuminating the scene with Illumination light emitted from a lighting device; (b) receiving measuring light, which is at least partially backscattered illumination light from at least one object contained in the scene, by means of a measuring device; (c) a measurement of distances between the sensor system and the at least one object based on a light transit time of the illuminating light and the measuring light by means of the measuring device; and (d) determining a three-dimensional characteristic of the scene based on the measured distances by means of a data processing device connected downstream of the measuring device.
  • the lighting is carried out by means of an array of individual light sources which generates a spatial grid of lighting points in the scene.
  • the method described is also based on the knowledge that a spatial concentration of the light intensity that is available with a certain energy consumption causes a locally generated light intensity
  • Lighting points given lighting intensity can be particularly large.
  • the scene can be recorded at these points with a high signal-to-noise ratio and thus a high measurement or detection accuracy can be achieved for objects present in the scene.
  • the method further comprises (a) detecting an object located in the scene; (b) a comparison of the detected object with at least one stored in a database
  • Comparison object and, (c) if the object matches a comparison object within predetermined permissible deviations, identifying the object as an object permitted for a specific action.
  • the permitted action can be, for example, permitted passage through an opening in a building, which opening is closed by a closure body before the identified object is identified as an permitted object and only after it has been successfully identified by a corresponding movement of the closure body is opened.
  • the objects to be identified can preferably be people and / or vehicles.
  • Successful identification can be for controlling or activating a locking mechanism for a locking body in front of an opening of a building. If (by means of a suitable image evaluation) none
  • Closing body cannot be activated. The closing body then remains in its closed position.
  • a use of a sensor system of the type described above for controlling a covering characteristic of an opening to be passed by an object by at least one closure body is described.
  • Lighting points can be illuminated with a comparatively intense illumination light. Due to the locally high intensity, the scene at the raster points can be recorded or characterized with a high signal-to-noise ratio and thus with a high level of measurement accuracy.
  • the opening is an entrance or an exit, in particular an emergency exit in a building.
  • Detection of an existing but possibly not moving object in a passage area can monitor an input or output
  • Information can be transmitted to an associated system, for example to a monitoring system.
  • the object is a person or a vehicle.
  • the building can in particular be a house or a garage.
  • Figure 1 shows the use of a sensor system for controlling a
  • FIG. 2 shows an array of individual light sources formed from VCSELs, which are implemented on a semiconductor chip.
  • FIG. 1 shows the use of a sensor system 100 for controlling a coverage characteristic of an opening 184 depending on the characteristic of a scene 190 monitored by the sensor system 100.
  • the opening 184 is an entry opening for people into a building or a garage entrance for motor vehicles.
  • the corresponding input structure is provided with the reference number 180.
  • An object 195 located in the scene is intended to symbolize such a person or a motor vehicle.
  • the entrance structure 180 comprises a stationary holding structure 182 which has a frame and a guide for two designed as sliding doors
  • Closing body 186 represents.
  • the sliding doors 186 can each be opened by means of a motor 187 along the lines shown by two thick double arrows
  • Displacement directions are moved.
  • the motors 187 are controlled, as explained below, by means of a data processing device 150 of the sensor system 100 described in this document.
  • an operating state of the two sliding doors 186 is detected by means of an encoder 188 in each case, which in Compared to the respective motor 187 represents a separate unit.
  • the encoder can also be integrated in the respective motor 187.
  • the function of the encoder can also be dependent on the
  • Data processing device 150 are taken over.
  • the operating state of the sliding doors 186 can be the current position of the sliding doors 186 and / or the current speed at which the sliding doors 186 move from an open position to a closed position or vice versa from the closed position to the open position.
  • the sensor system 100 has a time of flight (TOF) measuring device 110, the data processing device 150 and a database 160.
  • TOF time of flight
  • the TOF measuring device 110 in turn has a lighting device and a light receiving device. According to the one shown here
  • the lighting device has two lighting units, a first lighting unit 130a and a second
  • Lighting unit 130b The light receiving device has two
  • Light receiver a first light receiver 120a and a second
  • the TOF measuring device 110 has or is assigned (i) an illumination light control device 135 for controlling the operation of the two illumination units 130a, 130b, (ii) one of the two light receivers 120a, 120b downstream measuring unit 125 for measuring a light transit time between the illumination light 131a or 131b emitted by the respective illumination unit 130a or 130b and the measuring light 196a or 196b received by the respective light receiver 120a or 120b after scattering on the object 195 and (iii) a light receiver Control device 140 for controlling the Operation or for selecting an operating mode for the respective light receiver 120a, 120b.
  • an illumination light control device 135 for controlling the operation of the two illumination units 130a, 130b
  • one of the two light receivers 120a, 120b downstream measuring unit 125 for measuring a light transit time between the illumination light 131a or 131b emitted by the respective illumination unit 130a or 130b and the measuring light 196a or 196b received by the respective light receiver 120a or 120b after scattering on the object
  • a second operating mode with a lower energy consumption can be that not all pixels of the
  • relevant sensor chips are activated. This results in a reduced spatial resolution.
  • a repetition rate of temporally successive image acquisitions can be reduced. This results in a reduced temporal resolution of the scene detection.
  • the first light receiver 120a is assigned to the first lighting unit 130a.
  • the first light receiver 120a is arranged and configured in relation to the first lighting unit 130a and is also operated in such a way that the first light receiver 120a receives that measurement light 196a which is caused by scattering or reflection from the illumination light 131a on the object 195 is generated.
  • the second light receiver 120a is assigned to the second lighting unit 130b.
  • both light receivers 120a and 120b (can) receive the entire available measuring light 196a and 196b.
  • the two lighting units 130a and 130b are each implemented as an array of individual light sources which are formed on a semiconductor chip. Each individual light source is formed by a surface emitter or VCSEL (Vertical Cavity Surface Emitting Laser). The individual spatially discrete
  • Light beams of the illuminating light 131a, 131b generate a spatial grid 133 of in the scene or, more precisely, on projection surfaces of the scene
  • Illumination points 132 For the sake of clarity, only one light beam of the illumination light 131a or 131b and only the light rays of the associated measuring light 196a or 196b are shown in FIG. Further For reasons of clarity, not all of the illumination points 132 of the two grids of illumination points 132 generated by the illumination units 130a and 130b are shown.
  • the entire sensor system 100 (in contrast to the illustration in FIG. 1) is preferably constructed as a module which, within a compact design, not only includes the TOF measuring device 110 but also the
  • Has data processing device 150 and the database 160 Has data processing device 150 and the database 160.
  • the data processing device 150 controls the two motors 187.
  • the electrical power required for actuating the doors 186 is in each case provided by an output stage or an amplifier
  • the two output stages are each controlled via a signal 152a, which is output at a data output 152 by the data processing and control device 150 and is therefore referred to in this document as output signal 152a.
  • the operating state of the doors 186 has at least a certain influence on the operation of the TOF
  • this operating state determines the operation of the lighting units 130a and 130b and optionally also the operation of the two light receivers 120a and 120b (also). This influence manifests itself in two operating modes of the TOF measuring device 110.
  • a first operating mode the sensor system 100 and in particular the TOF measuring device 110 and further in particular the lighting units 130a and 130b have a first energy consumption.
  • a second operating mode these components have a second energy consumption compared to the first
  • the first operating mode is activated when the scene is to be captured with greater accuracy. This is the case, for example, when a person is in the vicinity of the opened sliding doors 186 and
  • the second operating mode is activated when it is sufficient to capture the scene 190 with less accuracy. This is the case, for example, if there is no person in the scene 190 or if a person 195 is indeed in the scene 190, but this person is still a long way from the danger area of the sliding doors 186. In that case, a collision of the person 195 with the sliding doors 186 is to be feared at least for a short time.
  • the second operating mode can differ from the first operating mode in that pulsed lighting is carried out with a lower repetition rate, so that the sensor system 100 has a reduced temporal resolution.
  • not all of the individual light sources can be controlled in the second operating mode, so that at least some individual light sources, for example every second individual light source, do not light up. As a result, the (mean) distances between adjacent illumination points 132 are increased, which ultimately leads to a lower spatial resolution of the sensor system 100.
  • the above-described operating state of the sliding doors 186 is determined by means of a data signal or a sequence of data signals from the two
  • Encoders 188 each to a data input 151 of the data processing facility 150 transmitted.
  • This data signal is also referred to in this document as input signal 151a from the point of view of data processing device 150.
  • the data processing device 150 processes this input signal 151a in a suitable manner and controls, inter alia, depending on this input signal 151a, the
  • Illumination light control device 135 and optionally also the light receiver control device 140 in such a way that an operating mode is set which (also) determines the energy consumption of the two lighting units 130a, 130b and optionally also the operating mode of the two light receivers 120a, 120b.
  • the dependence of the operating mode, in particular of the two lighting units 130a, 130b, on the operating state of the two sliding doors 186 is, according to the exemplary embodiment shown here, that the first operating mode with the higher energy consumption is activated when the two sliding doors 186 are moved, in particular by their
  • the scene 190 is recorded by the sensor system in a spatial area which comprises a first partial area 191 and a second partial area 192.
  • the first sub-area 191 is a so-called hazard area.
  • Hazardous area 191 is located, there is basically the risk that this will be trapped and possibly injured when the doors 186 are closed.
  • the sensor system 100 is therefore configured in such a way as to basically detect this hazardous area 191 with a very high degree of accuracy.
  • the first operating mode described above there are correspondingly bright ones
  • Light receivers 120a, 120b detect hazardous area 191 with reduced accuracy.
  • the second partial area 192 is an area in which objects are detected so that the doors 186 can be moved in a suitable manner.
  • the second sub-area 192 is therefore referred to as the activation area 192 in this document.
  • the activation area 192 is generally not safety-relevant (with regard to a collision of a door 186 with an object 195). Therefore, in the embodiment described here, the activation area 192 is only monitored, regardless of the operating state of the doors 186, so that the best possible energy efficiency is achieved at the expense of the accuracy of the scene detection.
  • the sensor system 100 is able to carry out an object detection.
  • Data processing device 150 to a data record of reference objects stored in database 160, which correspond to selected objects that are authorized to pass through opening 184. This means that when the object 195 appropriately approaches the entrance 184, the sliding doors 186 are only opened when the recognized object 195 at least approximately matches one of the stored reference objects. This clearly means that when using the
  • Sensor system 100 an object-based access control takes place.
  • FIG. 2 shows an array of individual light sources 334 a formed from VCSELs, which are implemented on a semiconductor chip 334.
  • Each of these individual light sources 334a generates a light beam of illuminating light 331, which among other things is not closed avoiding diffraction effects has a certain divergence or widening due to the optical limitations of the respective VCSEL resonator, which is illustrated in FIG. 2 in each case by a light cone.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système de détection (100) et un procédé d'acquisition tridimensionnelle d'une scène (190). Le système de détection (100) comprend : (a) un dispositif d'éclairage (130a, 130b) servant à éclairer la scène (190) avec une lumière d'éclairage (131a, 131b, 331) ; (b) un dispositif de mesure (110) servant (b1) à recevoir une lumière de mesure (196a, 196b) qui est une lumière d'éclairage (131a, 131b; 331) au moins en partie rétrodiffusée par au moins un objet (195) se trouvant dans la scène (190), et (b2) à mesurer des distances entre le système de détection (100) et ledit au moins un objet (195) sur la base d'un temps de propagation de la lumière d'éclairage (131a, 131b; 331) et de la lumière de mesure (196a, 196b) ; et (c) un dispositif de traitement de données (150) monté en aval du dispositif de mesure (110) et servant à déterminer une caractéristique tridimensionnelle de la scène (190) sur la base des distances mesurées. Le dispositif d'éclairage (130a, 130b) comporte un réseau de sources lumineuses individuelles (334a) qui génère dans la scène (190) une trame spatiale (133) de points d'éclairage (132). L'invention concerne en outre une utilisation d'un tel système de détection (100) pour commander une caractéristique de couverture d'une ouverture (184) ménagée à travers au moins un corps de fermeture (186) et par laquelle un objet (195) doit passer.
PCT/EP2020/061962 2019-05-10 2020-04-29 Système de détection tof doté d'un dispositif d'éclairage comprenant un réseau de sources lumineuses individuelles Ceased WO2020229189A1 (fr)

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DE102019112340.2A DE102019112340A1 (de) 2019-05-10 2019-05-10 TOF Sensorsystem mit einer Beleuchtungseinrichtung mit einem Array von Einzellichtquellen
DE102019112340.2 2019-05-10

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DE102022134863B4 (de) * 2022-12-27 2024-09-05 ASMPT GmbH & Co. KG Kamera-Beleuchtungsvorrichtung mit einem gemeinsamen Linsenarray für verschiedene Beleuchtungsstrukturen

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EP2418517A2 (fr) * 2010-08-09 2012-02-15 Dorma GmbH&Co. Kg Capteur optoélectronique
EP2453252B1 (fr) 2010-11-15 2015-06-10 Cedes AG Capteur 3D à économie d'énergie
EP2926422A1 (fr) * 2012-11-29 2015-10-07 Koninklijke Philips N.V. Dispositif laser pour projection de motif lumineux structuré sur une scène
US20150362585A1 (en) * 2013-07-12 2015-12-17 Princeton Optronics Inc. 2-D Planar VCSEL Source for 3-D Imaging
WO2018064745A1 (fr) 2016-10-03 2018-04-12 Sensotech Inc. Système de détection basé sur le temps de vol (tof) pour une porte automatique
US20180301872A1 (en) * 2017-04-12 2018-10-18 Sense Photonics, Inc. Ultra-small vertical cavity surface emitting laser (vcsel) and arrays incorporating the same
WO2019020395A1 (fr) * 2017-07-24 2019-01-31 Lumileds Holding B.V. Ensemble vcsel
US20190109436A1 (en) * 2017-10-11 2019-04-11 Lumentum Operations Llc Vertical-cavity surface-emitting laser array with multiple metal layers for addressing different groups of emitters

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US20150260830A1 (en) * 2013-07-12 2015-09-17 Princeton Optronics Inc. 2-D Planar VCSEL Source for 3-D Imaging

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Publication number Priority date Publication date Assignee Title
EP2418517A2 (fr) * 2010-08-09 2012-02-15 Dorma GmbH&Co. Kg Capteur optoélectronique
EP2453252B1 (fr) 2010-11-15 2015-06-10 Cedes AG Capteur 3D à économie d'énergie
EP2926422A1 (fr) * 2012-11-29 2015-10-07 Koninklijke Philips N.V. Dispositif laser pour projection de motif lumineux structuré sur une scène
US20150362585A1 (en) * 2013-07-12 2015-12-17 Princeton Optronics Inc. 2-D Planar VCSEL Source for 3-D Imaging
WO2018064745A1 (fr) 2016-10-03 2018-04-12 Sensotech Inc. Système de détection basé sur le temps de vol (tof) pour une porte automatique
US20180301872A1 (en) * 2017-04-12 2018-10-18 Sense Photonics, Inc. Ultra-small vertical cavity surface emitting laser (vcsel) and arrays incorporating the same
WO2019020395A1 (fr) * 2017-07-24 2019-01-31 Lumileds Holding B.V. Ensemble vcsel
US20190109436A1 (en) * 2017-10-11 2019-04-11 Lumentum Operations Llc Vertical-cavity surface-emitting laser array with multiple metal layers for addressing different groups of emitters

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