JP2021193790A - 物体の検出 - Google Patents
物体の検出 Download PDFInfo
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- JP2021193790A JP2021193790A JP2021073631A JP2021073631A JP2021193790A JP 2021193790 A JP2021193790 A JP 2021193790A JP 2021073631 A JP2021073631 A JP 2021073631A JP 2021073631 A JP2021073631 A JP 2021073631A JP 2021193790 A JP2021193790 A JP 2021193790A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/40—Systems for automatic generation of focusing signals using time delay of the reflected waves, e.g. of ultrasonic waves
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- 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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10712—Fixed beam scanning
- G06K7/10722—Photodetector array or CCD scanning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10792—Special measures in relation to the object to be scanned
- G06K7/10801—Multidistance reading
- G06K7/10811—Focalisation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
- G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1413—1D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Artificial Intelligence (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Studio Devices (AREA)
- Exposure Control For Cameras (AREA)
- Focusing (AREA)
- Stroboscope Apparatuses (AREA)
- Automatic Focus Adjustment (AREA)
Abstract
Description
Claims (15)
- 検出領域(14)内の物体(48)を検出するためのカメラ(10)であって、前記物体(48)の画像データを記録するための画像センサ(18)と、各物体(48)までの少なくとも1つの距離値を取得するための距離センサ(24)と、前記距離値に基づいて撮影のためにカメラ(10)の少なくとも1種類の調節を行うように構成された制御及び評価ユニット(37、38)とを備えるカメラ(10)において、
前記制御及び評価ユニット(37)がリアルタイム動作可能に、且つ、前記距離センサ(24)の時間情報に基づいて撮影実行時点において画像を撮影するように構成されていることを特徴とするカメラ(10)。 - 前記制御及び評価ユニット(37)が、前記距離センサ(24)と接続されたリアルタイム動作可能なマイクロプロセッサ、又は前記距離センサ(24)と接続されたFPGAを備え、特に該マイクロプロセッサ又はFPGAが前記距離センサ(24)に統合されていることを特徴とする請求項1に記載のカメラ(10)。
- 前記画像センサ(24)の前に配置された焦点調節可能な光学系を備え、前記カメラ(10)の調節が焦点調節を含んでいることを特徴とする請求項1又は2に記載のカメラ(10)。
- 前記距離センサ(24)がカメラ(10)に統合されていることを特徴とする請求項1〜3のいずれかに記載のカメラ(10)。
- 前記距離センサ(24)が、特に光伝播時間法の原理による、光電式の距離センサであることを特徴とする請求項1〜4のいずれかに記載のカメラ(10)。
- 前記距離センサ(24)が複数の距離値を測定するための複数の測定区域(30a)を備えており、前記制御及び評価ユニット(37)が特に、前記複数の距離値から共通の距離値を算出するように構成されていることを特徴とする請求項1〜5のいずれかに記載のカメラ(10)。
- 前記制御及び評価ユニット(37)が、前記距離値が変化したときに新たな物体(48)を認識し、そのための撮影実行時点を決定するように構成されていることを特徴とする請求項1〜6のいずれかに記載のカメラ(10)。
- 前記距離センサ(24)が反射値を測定するように構成されており、前記制御及び評価ユニット(37)が特に、前記反射値が変化したときに新たな物体(48)を認識し、そのための撮影実行時点を決定するように構成されていることを特徴とする請求項1〜7のいずれかに記載のカメラ(10)。
- 前記制御及び評価ユニット(37)が、連続する複数の撮影実行時点に従ってカメラ(10)の調節を行うように構成されていることを特徴とする請求項1〜8のいずれかに記載のカメラ(10)。
- 前記距離センサ(24)が、時間情報として、距離値に対するタイムスタンプ、又は撮影実行時点を伝送するように構成されていることを特徴とする請求項1〜9のいずれかに記載のカメラ(10)。
- パルス式の照明ユニット(22)を備え、前記制御及び評価ユニット(37)が前記撮影実行時点を照明パルスと同期させるように構成されていることを特徴とする請求項1〜10のいずれかに記載のカメラ(10)。
- 前記カメラ(10)の調節が撮影の露光時間を含んでいることを特徴とする請求項1〜11のいずれかに記載のカメラ(10)。
- 前記制御及び評価ユニット(38)が、前記物体(48)とともに撮影されたコード(52)のコード内容を読み取るように構成されていることを特徴とする請求項1〜12のいずれかに記載のカメラ(10)。
- 前記物体(48)を移動方向に搬送する搬送装置(50)付近に静的に取り付けられていることを特徴とする請求項1〜13のいずれかに記載のカメラ(10)。
- 検出領域(14)内の物体(48)を検出する方法であって、カメラ(10)で物体(48)の画像データを記録し、距離センサ(24)で各物体(48)までの少なくとも1つの距離値を測定し、前記距離値に基づいて撮影のためにカメラ(10)の少なくとも1種類の調節を行う方法において、
リアルタイム動作可能な処理において前記距離センサ(24)の時間情報に基づいて撮影実行時点において画像を撮影することを特徴とする方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020112430.9A DE102020112430B4 (de) | 2020-05-07 | 2020-05-07 | Kamera und Verfahren zur Erfassung von Objekten |
DE102020112430.9 | 2020-05-07 |
Publications (2)
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JP2021193790A true JP2021193790A (ja) | 2021-12-23 |
JP7314197B2 JP7314197B2 (ja) | 2023-07-25 |
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JP2021073631A Active JP7314197B2 (ja) | 2020-05-07 | 2021-04-23 | 物体の検出 |
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US (1) | US20210352214A1 (ja) |
JP (1) | JP7314197B2 (ja) |
CN (1) | CN113630548B (ja) |
DE (1) | DE102020112430B4 (ja) |
Families Citing this family (1)
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DE102020109929B3 (de) * | 2020-04-09 | 2021-01-14 | Sick Ag | Erfassung von Bilddaten eines bewegten Objekts |
Citations (3)
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JP2000171215A (ja) * | 1998-12-03 | 2000-06-23 | Techno Wave:Kk | 物流情報読取り装置 |
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US20190281199A1 (en) * | 2018-03-08 | 2019-09-12 | Sick Ag | Camera and Method of Detecting Image Data |
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DE102004049482A1 (de) | 2004-10-11 | 2006-04-13 | Sick Ag | Vorrichtung zur Überwachung von bewegten Objekten |
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-
2020
- 2020-05-07 DE DE102020112430.9A patent/DE102020112430B4/de active Active
-
2021
- 2021-04-23 JP JP2021073631A patent/JP7314197B2/ja active Active
- 2021-05-06 US US17/313,598 patent/US20210352214A1/en not_active Abandoned
- 2021-05-07 CN CN202110496713.1A patent/CN113630548B/zh active Active
Patent Citations (3)
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JP2000171215A (ja) * | 1998-12-03 | 2000-06-23 | Techno Wave:Kk | 物流情報読取り装置 |
US20190011557A1 (en) * | 2013-03-13 | 2019-01-10 | Cognex Corporation | Lens assembly with integrated feedback loop and time-of-flight sensor |
US20190281199A1 (en) * | 2018-03-08 | 2019-09-12 | Sick Ag | Camera and Method of Detecting Image Data |
Also Published As
Publication number | Publication date |
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JP7314197B2 (ja) | 2023-07-25 |
DE102020112430B4 (de) | 2021-12-23 |
US20210352214A1 (en) | 2021-11-11 |
DE102020112430A1 (de) | 2021-11-11 |
CN113630548A (zh) | 2021-11-09 |
CN113630548B (zh) | 2023-09-19 |
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