EP0391883A2 - Optoelectronic obstacle detector - Google Patents

Optoelectronic obstacle detector Download PDF

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Publication number
EP0391883A2
EP0391883A2 EP90890073A EP90890073A EP0391883A2 EP 0391883 A2 EP0391883 A2 EP 0391883A2 EP 90890073 A EP90890073 A EP 90890073A EP 90890073 A EP90890073 A EP 90890073A EP 0391883 A2 EP0391883 A2 EP 0391883A2
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EP
European Patent Office
Prior art keywords
optoelectronic
sensor strip
receiving
sensors
obstacle
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.)
Granted
Application number
EP90890073A
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German (de)
French (fr)
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EP0391883B1 (en
EP0391883A3 (en
Inventor
Martin Spitzer
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WITRONIC ELEKTRONISCHE GERATE GmbH
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WITRONIC ELEKTRONISCHE GERATE GmbH
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Publication of EP0391883A2 publication Critical patent/EP0391883A2/en
Publication of EP0391883A3 publication Critical patent/EP0391883A3/en
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    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/18Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/181Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems
    • G08B13/183Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems by interruption of a radiation beam or barrier

Definitions

  • the invention relates to an optoelectronic sensor strip for monitoring a specific space for the penetration of foreign bodies, in particular the use between force-moving devices.
  • a contactless sensor strip is increasingly desired, which is in a spatial range of e.g. 20 cm any obstacles are detected and a corresponding output signal is passed on to downstream systems.
  • Sensor strips are currently known which operate in the manner of a light switch. The reflection of the light rays at a corresponding obstacle is measured.
  • the disadvantage of such systems is that the detectability of obstacles depends heavily on the reflective properties of the obstacle.
  • a diffuse light field is generated, which is detected by a spatially separate reception sensor.
  • a signal is only sent to the external device if the bodies penetrating into the monitored space either exceed a certain minimum size or fall below a certain minimum distance from the receiving device. Reflections are irrelevant.
  • Fig. 1 shows the optoelectric sensor bar.
  • the invention consists of a sensor strip with a number of optoelectronic sensors (6) and (7) with corresponding signal amplifiers.
  • the distance between the individual receiving sensors (7) or the individual transmitting sensors (6) from one another can be selected in accordance with the desired uniformity of the field. In experiments, a distance of approx. 80 mm has proven to be well suited.
  • These transmit sensors (6) can be designed as infrared diodes and continuously send out a pulsed infrared light signal.
  • the pulse frequency can be selected as desired within the framework of the data sheet for the diodes.
  • the transmission range of the individual diodes overlaps and a corresponding diffuse infrared light field is created.
  • the infrared light will reach the receiving sensors (7) without weakening.
  • the receiving device (7) is covered by the obstacle at a certain distance between the obstacle (5) and the receiving sensor (7). This distance, at which no more infrared light falls on one of the receiving sensors (7), can be determined by adjusting the transmission power (1), but also by adjusting the gain of the signal received by the receiving device (2).
  • a distance of approx. 20 cm has proven to be useful. As soon as one of the receiving sensors (7) no longer receives a sufficient signal, a signal is passed on to the external control device (8).
  • the external control device (8) can thus carry out a corresponding reversal of the moving receiving device (7).
  • Fig. 2 shows the arrangement of the sensor strip for moving devices, which close from two sides. Both transmit sensors (6) and receive sensors (7) are mounted on both closing edges. An electronic switching device (11) now switches the transceiver (9) in a certain rhythm. This creates a sensor strip effect on both moving closing edges of the transceiver device (9).
  • the receiving device and the transmitting device can be operated by means of their own power supply, but a corresponding electrical connection (wire connection, light guide, wireless data transmission by means of an infrared signal or capacitive or inductive coupling) with central control electronics is also possible.
  • This control electronics also contains the power supply and the corresponding switching elements for controlling downstream devices.
  • the present invention offers a great technical advantage especially in the case of moving devices, such as motorized doors.
  • the receiving device (2) is mounted on the closing edge and the transmitting device (1) is mounted on the opposite impact edge.

Abstract

An optoelectronic sensor strip consisting of an optoelectronic receiving device and an optoelectronic transmitting device. The light radiated by the transmitting device fills the space to be monitored with diffused radiation. The receiving device still receives sufficient signal from the diffused field of light even when the direct radiation is covered by an obstacle between the transmitter and receiver. If, however, an obstacle largely covers the receiving sensor, an output signal is output for controlling a corresponding external device. <IMAGE>

Description

Die Erfindung betrifft eine optoelektronische Fühlerleiste zur Über­wachung eines bestimmten Raumes auf Eindringen von Fremdkörpern, insbe­sondere die Anwendung zwischen kraftbewegten Einrichtungen.The invention relates to an optoelectronic sensor strip for monitoring a specific space for the penetration of foreign bodies, in particular the use between force-moving devices.

Zur Überwachung von Durchgängen werden im Bedarfsfall normalerweise Lichtschranken verwendet. Lichtschranken schalten immer dann, wenn ein Hindernis den direkten Strahl unterbricht. Aneinanderreihungen von solchen Systemen sind als Lichtvorhänge oder Lichtgitter bekannt und arbeiten mit großer Zuverlässigkeit.If necessary, light barriers are normally used to monitor passages. Photoelectric switches always switch when an obstacle interrupts the direct beam. Strings of such systems are known as light curtains or light grids and work with great reliability.

Immer häufiger wird aber eine berührungslose Fühlerleiste gewünscht, welche in einem räumlichen Bereich von z.B. 20 cm etwaige Hindernisse dedektiert und ein entsprechendes Ausgangssignal an nachgeordnete Sys­teme weitergibt. Es sind Fühlerleisten zurzeit bekannt, welche nach Art eines Lichttasters arbeiten. Es wird hiebei die Reflexion der Licht­strahlen an einem entsprechenden Hindernis gemessen. Der Nachteil sol­cher Systeme ist jedoch, daß die Erkennbarkeit von Hindernissen stark von den Reflexionseigenschaften des Hindernisses abhängt.However, a contactless sensor strip is increasingly desired, which is in a spatial range of e.g. 20 cm any obstacles are detected and a corresponding output signal is passed on to downstream systems. Sensor strips are currently known which operate in the manner of a light switch. The reflection of the light rays at a corresponding obstacle is measured. The disadvantage of such systems, however, is that the detectability of obstacles depends heavily on the reflective properties of the obstacle.

Erfindungsgemäß wird jetzt vorgeschlagen, daß im Gegensatz zu den be­kannten Einrichtungen ein diffuses Lichtfeld generiert wird, welches von einem räumlich getrennten Empfangssensor dedektiert wird. Dabei wird nur dann ein Signal an die externe Einrichtung abgegeben, wenn die in den überwachten Raum eindringenden Körper entweder eine bestimmte Mindestgröße überschreiten oder einen bestimmten Mindestabstand zu der Empfangseinrichtung unterschreiten. Reflexionen spielen dabei keine Rolle.According to the invention, it is now proposed that, in contrast to the known devices, a diffuse light field is generated, which is detected by a spatially separate reception sensor. In this case, a signal is only sent to the external device if the bodies penetrating into the monitored space either exceed a certain minimum size or fall below a certain minimum distance from the receiving device. Reflections are irrelevant.

Die Erfindung wird nun anhand der Zeichnungen beispielsweise beschrieben. Fig. 1 zeigt die optoelektrische Fühlerleiste.The invention will now be described with reference to the drawings, for example. Fig. 1 shows the optoelectric sensor bar.

Die Erfindung besteht aus einer Fühlerleiste mit einer Anzahl von optoelektronischen Sensoren (6) und (7) mit entsprechenden Signalver­stärkern. Der Abstand der einzelnen Empfangssensoren (7) bzw. der ein­zelnen Sendesensoren (6) voneinander kann entsprechend der gewünschten Gleichförmigkeit des Feldes gewählt werden. In Versuchen hat sich ein Abstand von ca. 80 mm als gut geeignet erwiesen.The invention consists of a sensor strip with a number of optoelectronic sensors (6) and (7) with corresponding signal amplifiers. The distance between the individual receiving sensors (7) or the individual transmitting sensors (6) from one another can be selected in accordance with the desired uniformity of the field. In experiments, a distance of approx. 80 mm has proven to be well suited.

Diese Sendesensoren (6) können als Infrarot Dioden ausgeführt werden und senden ununterbrochen ein gepulstes Infrarot-Lichsignal aus. Die Pulsfrequenz kann im Rahmen der Angaben des Datenblatts der Dioden beliebig gewählt werden. Entsprechend der Strahlungscharakteristik der Dioden überlappt sich der Sendebereich der einzelnen Dioden und es entsteht ein entsprechendes diffuses Infrarot-Lichtfeld.These transmit sensors (6) can be designed as infrared diodes and continuously send out a pulsed infrared light signal. The pulse frequency can be selected as desired within the framework of the data sheet for the diodes. Depending on the radiation characteristics of the diodes, the transmission range of the individual diodes overlaps and a corresponding diffuse infrared light field is created.

Wenn sich kein Hindernis im Bereich der Empfangseinrichtung (2) und der Sendeeinrichtung (1) befindet, wird das Infrarot-Licht die Empfangs­sensoren (7) ungeschwächt erreichen.If there is no obstacle in the area of the receiving device (2) and the transmitting device (1), the infrared light will reach the receiving sensors (7) without weakening.

Befindet sich ein Hindernis (4) einer bestimmten Größe (z.B. eine Hand) im zu überwachenden Raum (3), wird trotzdem genügend Infrarot-Licht auf die Empfangssensoren (7) fallen.If there is an obstacle (4) of a certain size (e.g. a hand) in the room to be monitored (3), enough infrared light will still fall on the receiving sensors (7).

Wenn sich nun die Empfangseinrichtung (2) oder das Hindernis aufeinan­der zu bewegen, wird bei einem bestimmten Abstand zwischen dem Hindernis (5) und dem Empfangssensor (7) die Empfangseinrichtung (7) durch das Hindernis abgedeckt. Diesen Abstand, bei welchem kein Infrarot-Licht mehr auf einen der Empfangssensoren (7) fällt, kann man durch eine Einstellung der Sendeleistung (1), aber auch durch eine Einstellung der Verstärkung des von der Empfangseinrichtung (2) empfangenen Signals festlegen.If the receiving device (2) or the obstacle now move towards one another, the receiving device (7) is covered by the obstacle at a certain distance between the obstacle (5) and the receiving sensor (7). This distance, at which no more infrared light falls on one of the receiving sensors (7), can be determined by adjusting the transmission power (1), but also by adjusting the gain of the signal received by the receiving device (2).

Ein Abstand von ca. 20 cm hat sich als zweckmäßig erwiesen. Sobald einer der Empfanssensoren (7) kein genügendes Signal mehr erhält, wird ein Signal zu der externen Steuereinrichtung (8) weitergegeben. Die externe Steuereinrichtung (8) kann damit einen entsprechenden Umsteuer­vorgang der bewegten Emfangseinrichtung (7) vollziehen.A distance of approx. 20 cm has proven to be useful. As soon as one of the receiving sensors (7) no longer receives a sufficient signal, a signal is passed on to the external control device (8). The external control device (8) can thus carry out a corresponding reversal of the moving receiving device (7).

Fig. 2 zeigt die Anordnung der Fühlerleiste für bewegte Einrichtungen, welche sich von zwei Seiten schließen. Es werden auf beiden Schließ­kanten jeweils sowohl Sendesensoren (6) als auch Empfangssensoren (7) montiert. Eine elektronische Umschalteinrichtung (11) schaltet nun in einem gewißen Rhytmus jeweils die Sende-Empfangseinrichtung (9) um. Dadurch wird ein Fühlerleisteneffekt auf beiden bewegten Schließ­kanten der Sende-Empfangs-Einrichtung (9) realisiert.Fig. 2 shows the arrangement of the sensor strip for moving devices, which close from two sides. Both transmit sensors (6) and receive sensors (7) are mounted on both closing edges. An electronic switching device (11) now switches the transceiver (9) in a certain rhythm. This creates a sensor strip effect on both moving closing edges of the transceiver device (9).

Um über den ganzen Bewegungsbereich einen gleichartigen Fühlerleisten-­Effekt zu erreichen, besteht auch die Möglichkeit, die Sendeleistung oder die Verstärkung der Sende-Empfangs-Einrichtung (9) entsprechend zu regeln. Die Regelung wird von einem eigenen Empfangssensor (10) gesteuert, der ständig das direkt einfallende Infrarot-Lichtsignal mißt und über eine Rückkopplung konstant hält. Ein gleichartiger Rege­lungseffekt ist auch mittels eines Positionsgebers oder über eine Zeit­schaltung zu erreichen.In order to achieve a similar sensor strip effect over the entire range of motion, there is also the possibility of regulating the transmission power or the amplification of the transceiver device (9) accordingly. The regulation is controlled by a separate receiving sensor (10) which constantly measures the directly incident infrared light signal and keeps it constant via a feedback. A similar control effect can also be achieved by means of a position transmitter or via a time switch.

Die Empfangseinrichtung und die Sendeeinrichtung können mittels eigener Stromversorgung betrieben werden, möglich ist aber auch eine entspre­chende elektrische Verbindung (Drahtverbindung, Lichtleiter, drahtlose Datenübertragung mittels Infrarot-Signal bzw. kapazitiver oder indukti­ver Koppelung) mit einer zentralen Steuerelektronik. In dieser Steuer­elektronik befindet sich auch die Stromversorgung und die entsprechenden Schaltglieder für die Steuerung nachgeordneter Einrichtungen.The receiving device and the transmitting device can be operated by means of their own power supply, but a corresponding electrical connection (wire connection, light guide, wireless data transmission by means of an infrared signal or capacitive or inductive coupling) with central control electronics is also possible. This control electronics also contains the power supply and the corresponding switching elements for controlling downstream devices.

Einen großen technischen Vorteil bietet die gegenständliche Erfindung vor allem bei bewegten Einrichtungen, wie z.B. motorisch bewegten Türen. Hierbei wird auf der Schließkante die Empfangseinrichtung (2) und auf der gegenüberliegenden Prallkante die Sendeeinrichtung (1) montiert.The present invention offers a great technical advantage especially in the case of moving devices, such as motorized doors. The receiving device (2) is mounted on the closing edge and the transmitting device (1) is mounted on the opposite impact edge.

Claims (5)

1. Optoelektronische Fühlerleiste, dadurch gekennzeichnet, daß einer optoelektronischen Empfangseinrichtung (2) eine optoelektronische Sendeeinrichtung (1) gegenübersteht, und das ausgesandte Licht den zu überwachenden Raum (3) mit diffuser Strahlung ausfüllt, wobei von der Empfangseinrichtung (2) auch bei Abdeckung der direkten Strahlung, durch ein Hindernis (4) zwischen der Sendeeinrichtung (1) und der Emp­fangseinrichtung (2), noch genügend Signal empfangen wird um ein Aus­gangssignal zu verhindern, erst wenn das Hindernis (5) einen der Emp­fangssensoren (7) weitgehend abdeckt, wird es erkannt und ein Ausgangs­signal, zur Steuerung einer entsprechenden externen Einrichtung (8) abgegeben.1. Optoelectronic sensor strip, characterized in that an optoelectronic receiving device (2) is opposed to an optoelectronic transmitting device (1), and the emitted light fills the space to be monitored (3) with diffuse radiation, the receiving device (2) also covering the direct radiation, through an obstacle (4) between the transmitting device (1) and the receiving device (2), enough signal is still received to prevent an output signal only when the obstacle (5) largely covers one of the receiving sensors (7) it is recognized and an output signal is emitted to control a corresponding external device (8). 2. Optoelektronische Fühlerleiste nach Anspruch 1, dadurch gekenn­zeichnet, daß mindestens zwei optoelektronische Sendesensoren (6) die Sendeeinrichtung (1) bilden und für den Aufbau des diffusen Licht-Feldes (3) verwendet werden.2. Optoelectronic sensor strip according to claim 1, characterized in that at least two optoelectronic transmission sensors (6) form the transmission device (1) and are used for the construction of the diffuse light field (3). 3. Optoelektronische Fühlerleiste nach Anspruch 1 und 2, dadurch gekennzeichnet, daß bei bewegten Einrichtungen die Sendesensoren (6) auf der feststehenden Prallkante und die Empfangssensoren (7) auf der beweglichen Schließkante angebracht werden.3. Optoelectronic sensor strip according to claim 1 and 2, characterized in that the moving sensors (6) on the fixed impact edge and the receiving sensors (7) are attached to the movable closing edge in moving devices. 4. Optoelektronische Fühlerleiste nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, daß bei zentralschließenden kraftbewegten Einrichtungen auf beiden Schließkanten jeweils Sende- (6) und Empfangssensoren (7) angeordnet werden können, wobei durch eine Umschalteinrichtung jeweils alternierend eine Senderichtung aktiviert wird.4. Optoelectronic sensor strip according to claim 1, 2 or 3, characterized in that in the case of centrally closing force-moving devices, transmitting (6) and receiving sensors (7) can be arranged on each of the two closing edges, a transmission direction being alternately activated by a switching device. 5. Optoelektronische Fühlerleiste nach Anspruch 1,2,3 und 4, da­durch gekennzeichnet, daß durch Einstellung der Sendeleistung oder der Empfangsleistung der Fühlerleiste (1) oder (2), der sensitive Be­reich räumlich vor der Empfangseinrichtung (2), für einen bestimmten Normkörper auf z.B. 20 cm oder einen beliebigen anderen Wert eingestellt werden kann.5. Optoelectronic sensor strip according to claim 1, 2, 3 and 4, characterized in that by adjusting the transmission power or the received power of the sensor strip (1) or (2), the sensitive area spatially in front of the receiving device (2), for a specific standard body on e.g. 20 cm or any other value can be set.
EP19900890073 1989-03-13 1990-03-13 Optoelectronic obstacle detector Expired - Lifetime EP0391883B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT56489A AT396188B (en) 1989-03-13 1989-03-13 METHOD FOR MONITORING THE SPACE BETWEEN FORCE-MOVING DEVICES
AT564/89 1989-03-13

Publications (3)

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EP0391883A2 true EP0391883A2 (en) 1990-10-10
EP0391883A3 EP0391883A3 (en) 1991-08-07
EP0391883B1 EP0391883B1 (en) 1995-06-21

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EP19900890073 Expired - Lifetime EP0391883B1 (en) 1989-03-13 1990-03-13 Optoelectronic obstacle detector

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EP (1) EP0391883B1 (en)
AT (1) AT396188B (en)
DE (1) DE59009266D1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5486691A (en) * 1992-10-07 1996-01-23 Erwin Sick Gmbh Optik-Eletronik Monitoring apparatus in machines
FR2754089A1 (en) * 1996-09-27 1998-04-03 Barbuti Ottorino Infrared barrier screen for machinery accident prevention
WO2005088349A1 (en) * 2004-03-09 2005-09-22 Gerd Reime Access control device
EP2083286A1 (en) * 2008-01-25 2009-07-29 Marantec Antriebs- Und Steuerungstechnik Gmbh & Co., Produktions Kg Light barrier
CN111610783A (en) * 2020-04-29 2020-09-01 尚科宁家(中国)科技有限公司 Autonomous robot travel control method, autonomous robot, and storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3746863A (en) * 1972-03-15 1973-07-17 Exotron Ind Ltd Light curtain control for a switch
AU509436B2 (en) * 1976-05-05 1980-05-15 3M Australia Pty Limited Optoelectronic detection apparatus
US4260882A (en) * 1978-05-17 1981-04-07 Barnes Austen B Light sensitive detection circuit
AU550049B2 (en) * 1981-02-10 1986-02-27 Otis Elevator Company Detection means
US4652205A (en) * 1985-05-02 1987-03-24 Robotic Vision Systems, Inc. Robot cell safety system
WO1987004259A1 (en) * 1986-01-13 1987-07-16 Data Instruments Inc. Intrusion detection system for operating industrial machines

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Publication number Priority date Publication date Assignee Title
DE3105569C2 (en) * 1981-02-16 1983-10-20 Walter 8011 Kirchheim Neubert Object protection route

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3746863A (en) * 1972-03-15 1973-07-17 Exotron Ind Ltd Light curtain control for a switch
AU509436B2 (en) * 1976-05-05 1980-05-15 3M Australia Pty Limited Optoelectronic detection apparatus
US4260882A (en) * 1978-05-17 1981-04-07 Barnes Austen B Light sensitive detection circuit
AU550049B2 (en) * 1981-02-10 1986-02-27 Otis Elevator Company Detection means
US4652205A (en) * 1985-05-02 1987-03-24 Robotic Vision Systems, Inc. Robot cell safety system
WO1987004259A1 (en) * 1986-01-13 1987-07-16 Data Instruments Inc. Intrusion detection system for operating industrial machines

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5486691A (en) * 1992-10-07 1996-01-23 Erwin Sick Gmbh Optik-Eletronik Monitoring apparatus in machines
FR2754089A1 (en) * 1996-09-27 1998-04-03 Barbuti Ottorino Infrared barrier screen for machinery accident prevention
WO2005088349A1 (en) * 2004-03-09 2005-09-22 Gerd Reime Access control device
US7531787B2 (en) 2004-03-09 2009-05-12 Gerd Reime Access control device
EP2083286A1 (en) * 2008-01-25 2009-07-29 Marantec Antriebs- Und Steuerungstechnik Gmbh & Co., Produktions Kg Light barrier
US7973273B2 (en) 2008-01-25 2011-07-05 Marantec Antriebs—und Steuerungstechnik GmbH & Co. KG Light barrier with feedback control
CN101493530B (en) * 2008-01-25 2014-08-20 玛琅泰克驱动及控制技术股份有限及两合公司 Light barrier
CN111610783A (en) * 2020-04-29 2020-09-01 尚科宁家(中国)科技有限公司 Autonomous robot travel control method, autonomous robot, and storage medium

Also Published As

Publication number Publication date
DE59009266D1 (en) 1995-07-27
EP0391883B1 (en) 1995-06-21
AT396188B (en) 1993-06-25
EP0391883A3 (en) 1991-08-07
ATA56489A (en) 1992-10-15

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