DE102019122736A1 - System and alignment process with one system - Google Patents

Abstract

System (1) and alignment method with a system (1) with at least one sensor housing (2), at least one secondary sensor (3) for detecting the actual position and orientation of the sensor housing (2) in the room and a display unit (19), wherein the secondary sensor (3) is designed to generate position data and orientation data, transmission means (8) being arranged in the secondary sensor (3) in order to transmit the actual position data and actual orientation data to the display unit (19) and the display unit (19 ) is designed to display the actual position (4) and the actual orientation (5) of the sensor housing (2) by means of the actual position data and the actual orientation data of the secondary sensor (3) in a spatial model (9).

Description

The present invention relates to a system according to the preamble of claim 1 and an alignment method with a system according to the preamble of claim 11.

In light barriers or light grids based on the one-way principle, the light transmitter or transmitters are installed in a first housing and the light receiver or receivers are installed in a second housing. So that the light transmitters on one side of an access area to be monitored can correspond to the light receivers on the other side of the access area, it is necessary to mutually align the two housings with one another; H. they may have to be moved, rotated or tilted linearly. For this reason it is known to use so-called alignment aids to align these housings. The housing can be aligned with a permanently installed or externally adaptable telescopic sight, especially when the distance between the light transmitter and the light receiver is large. The disadvantage is that the associated costs and the required space are very high. The time required for alignment is quite high.

It is also known to carry out the adjustment with the aid of one's own light barrier / light grid signal. With this method, the alignment of the light transmitter and the light receiver is changed until a received signal has reached a maximum value. For this purpose, it is known, for example, to change the flashing frequency of a display diode as a function of the size of the received signal or, for example, to output an acoustic signal.

Another device for aligning the two housings is from the EP 0 889 332 B1 known. This document describes a method and a device in which an alignment light transmitter for emitting a directional beam is present in each housing. The point of incidence of the directional beam is determined with respect to a predetermined reference point and, if necessary, the mutual alignment of the housings is coordinated with one another.

This type of alignment has the disadvantage that, given the mutual geometric alignment of the two housings, it is necessary to always be able to see the opposing housing in order to be able to carry out the alignment. This can lead to problems, especially with large distances and high ambient brightness. This type of alignment aid is particularly difficult when the light beams from the light barrier / light grid are guided through an angled access area with deflecting mirrors. In addition, this alignment aid is costly overall due to the fact that several precisely adjusted deflection mirrors are necessary. In addition, a lot of time is required for alignment.

It is an object of the invention to provide an improved system or an improved alignment method with a system.

The object is achieved according to claim 1 by a system with at least one sensor housing, at least one secondary sensor for detecting the actual position and actual orientation of the sensor housing in space and a display unit, the secondary sensor being designed to generate position and orientation data, with are arranged in the secondary sensor transmission means to transmit the actual position and orientation data to the display unit and the display unit is designed to display the position and orientation of the sensor housing by means of the actual position and orientation data of the secondary sensor in a room model .

The object is further achieved according to claim 11 by an alignment method with a system with at least one sensor housing, at least one secondary sensor for detecting the actual position and actual orientation of the sensor housing in space, and a display unit, the secondary sensor generating position and orientation data, wherein are arranged in the secondary sensor transmission means to transmit the actual position and orientation data to the display unit and the display unit the actual position and orientation of the sensor housing by means of the actual position and orientation data of the secondary sensor in a room model indicates.

According to the invention, a user is able to evaluate the actual position and the actual orientation in the spatial model and take suitable measures if the actual position and the actual orientation of setpoint values, that is, a setpoint position and a setpoint -Orientation deviates.

The actual position and orientation can also be viewed in the room model on the display unit. The user does not have to inspect the sensor housing directly on site. For example, the position and orientation of the sensor housing can be checked remotely by remote maintenance. It is also possible to display the position and the orientation of several sensor housings simultaneously or sequentially on the display unit. This means that the sensor housings of an entire system can be checked centrally.

The actual position can be specified in three independent spatial axes, which are referred to here as the X-axis, the Y-axis and the Z-axis and are each at an angle of 90 ° to each other.

The actual orientation can be specified in three independent angles, namely a roll angle, which is assigned to the X-axis, a pitch angle, which is assigned to the Y-axis, and a yaw angle, which is assigned to the Z-axis, which is also shown in Angle of 90 ° to each other and are referred to here as X-angle, Y-angle and Z-angle. The respective angles can be assigned to the respective axes, after which the X angle is oriented in the direction of the X axis, the Y angle in the direction of the Y axis and the Z angle in the direction of the Z axis.

The orientation can be determined and displayed in Cartesian coordinates or also in polar coordinates.

In a further development of the invention, the display unit is designed to display a target position and target orientation of the sensor housing in the spatial model.

By displaying the target position and target orientation, the user can determine a deviation from the displayed actual position and actual orientation and take suitable countermeasures, namely to better align the sensor housing.

In a further development of the invention, a control and evaluation unit is connected to the display unit, which is designed to compare the actual position and actual orientation with the target position and target orientation and to display a deviation therefrom in the spatial model.

This gives the user clear instructions on how to change the actual position or the actual orientation of the sensor housing, or how to align or adjust the sensor housing in order to obtain an optimal alignment of the sensor housing.

The alignment and adjustment of the sensor housing is optionally continuously or cyclically monitored and checked by the system so that, for example, after a first alignment process or a first adjustment, a corrected actual position and actual orientation is recorded again and again or cyclically in is displayed in the room model.

In a further development of the invention, the control and evaluation unit is designed to output alignment information in order to minimize a discrepancy between the actual position and actual orientation and the target position and target orientation.

The alignment information can consist, for example, of text instructions that describe an adjustment. Simple text instructions can be: Move the sensor housing in the X, Y or Z axis by n units in a positive or negative direction 'or' Rotate the sensor housing in the X, Y or Z axis by n degrees in a positive or negative direction '.

The alignment information can also be output via voice output and / or via graphic symbols.

The text instructions or the graphic symbols can be assigned locally or spatially directly to the sensor housing in the display unit. For example, arrow symbols on the displayed sensor housing can prompt an adjustment in a specific direction and / or at a specific angle.

In a further development of the invention, the display unit is part of a human-machine interface, a personal computer, a mobile personal computer, a tablet, a smartphone or a mobile computer.

The human-machine interface is, for example, part of a system in which the sensor housing is installed. The display unit is provided to manage, program and monitor the system.

A personal computer can have a monitor which forms the display unit. In a mobile personal computer, also called a notebook or laptop, the display of the mobile personal computer forms the display unit.

The monitor or the display of a tablet, a smartphone or another mobile computer can also form the display unit.

A mobile computer or a mobile display unit has the advantage that the display can be available directly on site at the sensor housing. As a result, an adjustment or alignment can take place directly on the sensor housing on the basis of the alignment information displayed on the display unit.

In a further development of the invention, the sensor housing is a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing, a light receiver housing, a deflecting mirror housing, a multi-beam light barrier housing Multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing.

Light grid housings often have a light transmitter housing and a light receiver housing, which have to be aligned with one another. A plurality of light transmitters are provided in the light transmitter housing and a plurality of receivers are provided in the light receiver housing, the light transmitters and light receivers being assigned in pairs in order to form the light grid or a light curtain. The light transmitters or light receivers work on the principle of a light barrier.

However, light grid housings can also have sensor housings with light transmitters and light receivers, an opposing sensor housing likewise having corresponding light transmitters and light receivers which are assigned in pairs in order to form a light grid or a light curtain.

Furthermore, the light grid housing can also have light sensors or distance sensors in order to form a light grid or a light curtain. The distance sensors work, for example, according to the time-of-flight principle or the triangulation principle.

Multi-beam light barrier housings often have a multi-beam light barrier transmitter housing and a multi-beam light barrier receiver housing, which have to be aligned with one another. A plurality of light transmitters are provided in the multi-beam light barrier transmitter housing and a plurality of receivers are provided in the multi-beam light barrier receiver housing, the light transmitters and light receivers each being assigned in pairs to form the multi-beam light barrier. The light transmitters or light receivers work on the principle of a light barrier.

In a further development of the invention, the sensor housing has at least one position sensor and at least one orientation sensor as secondary sensors.

As a result, the actual position and the actual orientation can be recorded directly in the sensor housing. The position sensor can be a differential GPS sensor or sensor system. Combined or integrated six-axis sensors can also be used, which provide an actual position and an actual orientation in six coordinates. The position is recorded on the basis of a global positioning system and the orientation is recorded, for example, on the basis of the earth's magnetic field or, for example, on the basis of an artificial directed magnetic, electrical or electromagnetic field.

Alternatively, the gravitational field can also be used for orientation. A combination of the named location and orientation methods is also planned.

The actual position data and actual orientation data are then transmitted to the display unit and displayed there.

In a further development of the invention, the system has at least two cameras as secondary sensors for determining the position of the sensor housing.

The two cameras are arranged at a distance from one another and the sensor housing is in the field of view of both cameras. The actual position and the actual orientation of the sensor housing can be recorded on the basis of the captured camera images by means of triangulation methods or photogrammetric methods.

The actual position data and actual orientation data are then transmitted from the cameras or from a control and evaluation unit to the display unit and displayed there.

In a further development of the invention, the system has at least one distance-measuring camera as secondary sensors for determining the position of the sensor housing.

The distance-measuring camera can be, for example, a time-of-flight camera. By detecting the contour and the distance of the sensor housing from the distance-measuring camera, the actual position and the actual orientation of the sensor housing can be detected on the basis of the captured contour data and distance or distance data.

The actual position data and actual orientation data are then transmitted from the camera from a control and evaluation unit to the display unit and displayed there.

In a further development of the invention, the sensor housing has at least one marking, the secondary sensors being designed to detect the marking.

The sensor housing can be identified by the marking and, for example, from other objects, objects or z. B. different sensor housings can be distinguished.

For example, the marking can contain identification data of the sensor housing, for example type data and manufacturer information. As a result, mechanical dimensions and contours are known to the secondary sensors or the cameras or the camera system, so that the sensor housing can be identified more easily.

The marking can be an optical code, for example a bar code, a bar code, a QR code, a matrix code or the like.

In the following, the invention will also be explained with regard to further advantages and features with reference to the accompanying drawings using exemplary embodiments.

• 1 zwei ausgerichtete Sensorgehäuse;
• 2 zwei nicht ausgerichtete Sensorgehäuse;
• 3 zeigt die Achsen XA, YA und ZA bez. die Roll-, Nick- und Gierwinkel XW, YW und ZW;
• 4 bis 8 jeweils ein System mit zwei Sensorgehäusen und einer Anzeigeeinheit.

The figures in the drawing show in:

• 1 two aligned sensor housings;
• 2 two misaligned sensor housings;
• 3 shows the axes XA , YA and ZA refer to the roll, pitch and yaw angles XW , YW and ZW ;
• 4th to 8th a system each with two sensor housings and a display unit.

In the following schematic figures, identical parts are provided with identical reference symbols.

1 shows two sensor housings 2 , for example two sensor housings 2 a light grid, which are exactly or correctly aligned with one another, so that the light rays of the light transmitter of the light transmitter housing 11 on the light receiver of the light receiver housing 12 to meet.

According to 1 can the sensor housing 2 for example a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing 11 , a light receiver housing 12 , a deflecting mirror housing, a multi-beam light barrier housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing or a housing of another sensor.

Light grid housings often have a light transmitter housing 11 and a light receiver case 12 which have to be aligned to each other. Thereby are in the light transmitter housing 11 a plurality of light emitters and in the light receiver housing 12 a plurality of receivers is provided, the light transmitter and light receiver being assigned in pairs in order to form the light grid or a light curtain. The light transmitters or light receivers work on the principle of a light barrier.

However, light grid housings can also have sensor housings with light transmitters and light receivers, an opposing sensor housing likewise having corresponding light transmitters and light receivers which are assigned in pairs in order to form a light grid or a light curtain.

Furthermore, the light grid housing can also have light sensors or distance sensors in order to form a light grid or a light curtain. The distance sensors work, for example, according to the time-of-flight principle or the triangulation principle.

Multi-beam light barrier housings often have a multi-beam light barrier transmitter housing and a multi-beam light barrier receiver housing, which must be aligned with one another. A plurality of light transmitters are provided in the multi-beam light barrier transmitter housing and a plurality of receivers are provided in the multi-beam light barrier receiver housing, the light transmitters and light receivers each being assigned in pairs to form the multi-beam light barrier. The light transmitters or light receivers work on the principle of a light barrier.

2 shows the two sensor housings 2 out 1 that are not aligned or incorrectly aligned with one another, so that the light beams of the light transmitter of the light transmitter housing 11 not or only partially on the light receiver of the light receiver housing 12 to meet.

3 shows the axes XA , YA and ZA or the roll angle, pitch angle or yaw angle XW , YW and ZW in which the position and orientation can be specified.

The actual position can be specified in three independent spatial axes, here as the X-axis XA , are designated as Y-axis YA and Z-axis ZA and are each at an angle of 90 ° to each other.

The actual orientation can be specified in three independent angles, namely the roll angle, the pitch angle and the yaw angle, which can also be at an angle of 90 ° to each other and here as an X angle XW , as a Y angle YW and Z-angles ZW are designated. The respective angles can be assigned to the respective axes, after which the X angle XW in the direction of the X-axis XA is aligned, the Y angle YW in the direction of the Y axis YA and the Z angle ZW is aligned in the direction of the Z-axis ZA.

The orientation can be determined and displayed in Cartesian coordinates or also in polar coordinates.

4th shows a system with at least one sensor housing 2 , at least one secondary sensor 3 to record the actual position 4th and the actual orientation 5 of the sensor housing 2 in the room and a display unit 19th , where the secondary sensor 3 is designed to generate position data and orientation data, with the secondary sensor 2 Means of transmission 8th are arranged to send the actual position data and actual orientation data to the display unit 19th to transmit and the display unit 19th is formed, the actual position 4th and the actual orientation 5 of the sensor housing 2 by means of the actual position data and the actual orientation data of the secondary sensor 2 in a spatial model 9 to display.

According to 4th a user is able to find the actual position 4th and the actual orientation 5 in the spatial model 9 to evaluate and take appropriate action if the actual position 4th and the actual orientation 5 deviates from setpoint values, for example from a setpoint position and a setpoint orientation.

The actual position can also be used 4th and the actual orientation 5 in the spatial model 9 on the display unit 19th can be viewed. The user does not have to open the sensor housing directly on site 2 take a look for yourself. It is also possible to change the position and orientation of several sensor housings 2 simultaneously or sequentially on the display unit 19th to display. This allows the sensor housing 2 an entire system can be checked centrally.

According to 5 is the display unit 19th trained, a target position 6th and target orientation 7th of the sensor housing 2 in the spatial model 9 to display.

By displaying the target position 6th and the target orientation 7th the user can determine a deviation from the displayed actual position 4th and actual orientation 5 determine and take appropriate countermeasures, namely the sensor housing 2 better align.

According to 5 is with the display unit 19th a control and evaluation unit 20th connected, which is designed to the actual position 4th and actual orientation 5 with the target position 6th and target orientation 7th to compare and a deviation from it in the spatial model 9 to display.

This gives the user clear instructions as to the actual position 4th or the actual orientation 5 of the sensor housing 2 is to be changed, or like the sensor housing 2 must be aligned or adjusted in order to achieve an optimal alignment of the sensor housing 2 to obtain.

The alignment and adjustment of the sensor housing 2 is optionally continuously or cyclically from the system 1 monitored and checked, so that, for example, a corrected actual position again after a first alignment process or a first adjustment 4th and actual orientation 5 is detected and again or cyclically in the room model 9 is shown.

According to 5 is the control and evaluation unit 20th designed to output alignment information to a deviation from the actual position 4th and actual orientation 5 to the target position 6th and target orientation 7th to minimize.

The alignment information can consist, for example, of text instructions that describe an adjustment. Simple text instructions can be: Move the sensor housing 2 in the X-axis XA "Y-axis YA, or Z-axis ZA by n units in positive or negative direction" or "Rotate sensor housing in the X angle XW , at the Y angle YW at the Z angle ZW by n degrees in a positive or negative direction '.

The alignment information can also be output via voice output and / or via graphic symbols.

The text instructions or the graphic symbols can be directly attached to the sensor housing 2 in the display unit 19th be assigned locally or spatially. For example, arrow symbols can be found on the displayed sensor housing 2 request an adjustment in a certain direction and / or at a certain angle.

According to 5 is the display unit 19th Part of a human-machine interface, a personal computer 10 , a mobile personal computer, a tablet, a smartphone or a mobile computer.

The human-machine interface is, for example, part of a system in which the sensor housing 2 installed. The display unit 19th is intended to manage, program and monitor the system.

A personal computer 10 can have a monitor, the display unit 19th forms. In a mobile personal computer, also called a notebook or laptop, the display of the mobile personal computer forms the display unit 19th .

The monitor or the display of a tablet, a smartphone or another mobile computer can also be the display unit 19th form.

A mobile computer or a mobile display unit 19th has the advantage that the display is directly on site at the sensor housing 2 can be available. This allows adjustment or alignment directly on the sensor housing 2 based on the alignment information displayed on the display unit 19th respectively.

According to 5 shows the sensor housing 2 as secondary sensors 3 at least one position sensor 13 and at least one orientation sensor 14th on.

This allows the actual position 4th and the actual orientation 5 directly in the sensor housing 2 are recorded. With the position sensor 13 it can be a differential GPS sensor or sensor system. Combined or integrated six-axis sensors can also be used to provide an actual position 4th and an actual orientation 5 deliver in six coordinates. The position is recorded for example on the basis of a global positioning system and the orientation is recorded for example on the basis of the earth's magnetic field.

The actual position data and actual orientation data are then sent to the display unit 19th transmitted and displayed there.

According to 6th assigns the system as secondary sensors 3 at least two cameras 15th and 16 for determining the position of the sensor housing 2 on.

The two cameras 15th and 16 are spaced apart from each other and the sensor housing 2 is in the field of view of both cameras 15th and 16 . The actual position can be determined by triangulation methods or by photogrammetric methods 4th and the actual orientation 5 of the sensor housing 2 based on the captured camera images.

The actual position data and actual orientation data are then provided by the cameras 15th and 16 or from a control and evaluation unit 20th to the display unit 19th transmitted and displayed there.

According to 7th instructs the system 1 as secondary sensors 3 at least one distance measuring camera 17th to determine the position of the sensor housing.

The distance measuring camera 17th can for example be a time-of-flight camera. By detecting the contour and the distance of the sensor housing 2 from the distance measuring camera 17th can be the actual position 4th and the actual orientation 5 of the sensor housing 2 are recorded based on the recorded contour data and distance or distance data.

The actual position data and actual orientation data are then provided by the camera 17th from a control and evaluation unit 20th to the display unit 19th transmitted and displayed there.

According to 8th shows the sensor housing 2 at least one mark 18th on, with the secondary sensors 3 are formed, the marking 18th capture.

By marking 18th can the sensor housing 2 be identified and, for example, from other objects, objects or z. B. other sensor housings 2 can be distinguished.

For example, the marking 18th Identification data of the sensor housing 2 contain, for example, type data and manufacturer information. This causes the secondary sensors 3 or the camera 17th or the camera system known mechanical dimensions and contours, so that the sensor housing 2 is easier to identify.

When marking 18th it can be an optical code, for example a bar code, a barcode, a QR code, a matrix code or the like.

List of reference symbols

1

system

2

Sensor housing

3

Secondary sensor

4th

Actual position

5

Actual orientation

6th

Target position

7th

Target orientation

8th

Means of transmission

9

Spatial model

10

Personal computer

11

Light transmitter housing

12

Light receiver housing

13

Position sensor

14th

Orientation sensor

15th

first camera

16

second camera

17th

distance measuring camera

18th

mark

19th

Display unit

20th

Control and evaluation unit

XA

X axis

XY

Y axis

XZ

Z axis

XW

X angle

YW

Y angle

ZW

Z angle

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• EP 0889332 B1 [0004]

Claims (11)

System (1) with at least one sensor housing (2), at least one secondary sensor (3) for detecting the actual position and orientation of the sensor housing (2) in space and a display unit (19), the secondary sensor (3) being designed To generate position data and orientation data, characterized in that transmission means (8) are arranged in the secondary sensor (3) in order to transmit the actual position data and actual orientation data to the display unit (19) and the display unit (19) is designed which Display the actual position (4) and the actual orientation (5) of the sensor housing (2) by means of the actual position data and actual orientation data of the secondary sensor (3) in a room model (9). System according to Claim 1 , characterized in that the display unit (19) is designed to display a target position (6) and a target orientation (7) of the sensor housing (2) in the spatial model (9). System according to Claim 2 , characterized in that a control and evaluation unit (20) is connected to the display unit (19), which is designed to match the actual position (4) and the actual orientation (5) with the target position (6) and to compare the target orientation (7) and to display a deviation therefrom in the spatial model (9). System according to Claim 3 , characterized in that the control and evaluation unit (20) is designed to output alignment information in order to detect a deviation from the actual position (4) and actual orientation (5) to the target position (6) and target orientation ( 7) to minimize. System according to at least one of the preceding claims, characterized in that the display unit (19) is part of a man-machine interface, a personal computer (10), a mobile personal computer, a tablet, a smartphone or a mobile computer. System according to at least one of the preceding claims, characterized in that the sensor housing (2) is a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing (11), a light receiver housing (12), a deflecting mirror housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing. System according to at least one of the preceding claims, characterized in that the sensor housing (2) has at least one position sensor (13) and at least one orientation sensor (14) as secondary sensors (3). System according to at least one of the preceding claims, characterized in that the system (1) has at least two cameras (15, 16) as secondary sensors (3) for determining the position and the orientation of the sensor housing (2). System according to at least one of the preceding claims, characterized in that the system (1) has at least one distance-measuring camera (17) as secondary sensors (3) for determining the position and orientation of the sensor housing (2). System according to at least one of the preceding claims, characterized in that the sensor housing (2) has a marking (18), the secondary sensors (3) being designed to detect the marking (18). Alignment method with a system (1) with at least one sensor housing (2), at least one secondary sensor (3) for detecting an actual position (4) and an actual orientation (5) of the sensor housing (2) in the room and a display unit (19 ), the secondary sensor (3) generating position data and orientation data, characterized in that transmission means (8) are arranged in the secondary sensor (3) in order to transmit the actual position data and the actual orientation data to the display unit (19) and the display unit (19) shows the actual position (4) and the actual orientation (5) of the sensor housing (2) by means of the actual position data and the actual orientation data of the secondary sensor (3) in a spatial model (9).

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