JP3029943B2 - Vehicle detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle detecting device used for toll collection machines on toll roads and traffic equipment such as traffic volume measurement.

[0002]

2. Description of the Related Art As a conventional method for detecting and counting passing vehicles on a road from above a road surface, the following methods (1) to (1) are used.
It is something like (3). (1) Ultrasonic method shown in FIG. 14: In this method, a vibrator 101 for oscillating and receiving an ultrasonic wave 101A is provided above a road surface, and a distance to the road surface is detected. That is, as shown in FIG. 14, when the vehicle 103 passes, the time for the reflected echo 104 to return is shortened, and the presence of the vehicle 103 is detected. (2) Microwave method (not shown): In this method, the frequency of the reflected wave with respect to the oscillated microwave is measured. That is, the wave reflected back to the passing vehicle undergoes Doppler shift (frequency shift), and the wave reflected back to the road surface does not undergo frequency shift. Therefore, the passage of the vehicle can be detected by detecting the frequency shift. (3) Optical system shown in FIG. 15: In this system, as shown in FIG. 15, the illuminance on the road surface 102 is monitored by the optical sensor 105, and when the vehicle 103 passes, the paint color of the roof is different from the road surface. Therefore, the vehicle 103 is detected. In the optical system, the field of view can be reduced by an optical lens, and multiple detection can be performed by forming an array.

[0003]

The above-mentioned conventional vehicle detection technology has the following problems.

[0004] The ultrasonic system and the microwave system have long wavelengths because of their long wavelengths, and thus cover a wide lane below the installation position on the road surface. In other words, it is possible to detect a small vehicle 103 such as a motorcycle in the lane immediately below wherever it passes. This allows 1
Although it has the advantage that one sensor can cover the entire width of one lane, conversely, when a plurality of motorcycles translate in the same lane, they cannot be counted separately. Also, it is not possible to detect a motorcycle passing by a truck on a stagnated road. As described above, in the method using the ultrasonic waves and the microwaves, there is a limit to the accurate detection of the passing vehicle. In the case of traffic measurement for the control of signal lights at intersections, miscounting in the special case as described above is not a particularly serious problem, but when applied to toll collection on toll roads, such No exceptions are allowed.

[0005] The optical system is based on the light beam 106, unlike the microwave or ultrasonic system.
If 05 is provided so that the field of view has a fine pitch in the width direction in the lane, cases such as translation of the motorcycle 103 can be separately counted as shown in FIG. However, in this case, when the altitude of the sun 107 is low in the morning or evening, a shadow 108 of one vehicle is generated on the road surface 102, so that depending on the time, the translation of two motorcycles is also detected as one vehicle. It is possible.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle detection device which is hardly affected by a traffic form such as translation or stagnation, and is hardly affected by weather conditions.

[0007]

According to the present invention, there is provided a vehicle detection apparatus including a laser light source and a diffraction grating installed above a road surface, and irradiating an intermittent marking image in a lane width direction onto the road surface. A marking irradiation device, and an optical array sensor installed above the road surface so as to have an optical axis that is non-parallel to the optical axis of the marking irradiation device, and obtains a one-dimensional light amount signal in the lane width direction of the intermittent marking image from the road surface. An optical system installed in the optical array sensor, and a signal processing device for performing a vehicle detection process from an output signal of the optical array sensor, and an intermittent marking image formed on the optical array sensor.
The intermittent period is longer than the period of the pixels of the optical array sensor;
The intermittent period of the intermittent marking image formed on the road surface is detected.
It is shorter than the minimum width of the target vehicle .

[0008] In this case, preferably, the step board, the loop coils, installed ultrasound handset and installation microwave transceiver in the road surface upwardly road upward buried in the road surface with buried contacts the road plane The apparatus further includes at least one sensor among the sensors, and the signal processing device performs a vehicle detection process from an output signal of the sensor and an output signal of the optical array sensor.

[0009]

The laser light source is a light source for marking a road surface, and the diffraction grating forms a stripe pattern of the laser light, thereby irradiating an intermittent marking image on the road surface. The optical array sensor obtains a one-dimensional light amount signal in the lane width direction of the intermittent marking image reflected on the road surface. Vehicle when vehicle passes
Reflects the intermittent marking image,
The intermittent marking image of the part
The remaining intermittent marking image reflected from the road surface without firing
Is incident. The signal processing device utilizes this to process the one-dimensional light amount signal from the optical array sensor, and separates the passing road from the road surface which is the background based on the change of the striped signal.
Discriminate and detect each passing vehicle. In this case, on the road
The intermittent marking image irradiating the surface has periodicity
Vehicle inspection without being affected by weather conditions such as shading.
You can do knowledge. It also forms an image on the optical array sensor.
The intermittent period of the intermittent marking image
Since the optical array sensor is longer than the
It is possible to obtain a one-dimensional light quantity signal corresponding to the missing marking image.
Can be. Furthermore, intermittent markin formed on the road surface
The intermittent period of the image is shorter than the minimum width of the detection target vehicle
The vehicle in the lane of the vehicle
Detect vehicles without being affected by the type of traffic
Can be.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 schematically shows a vehicle detection device according to an embodiment of the present invention. In FIG. 1, a gantry 1 is used to install equipments 2 and 10 above a road surface 102 of a road. The equipment 2 is a system such as an optical array sensor and an optical lens. In this embodiment, a one-dimensional CCD is used. 1 incorporating an optical element
It is a three-dimensional CCD camera. The one-dimensional CCD cameras 2 are installed obliquely downward for each lane, and each one-dimensional CCD camera 2 is provided with a filter 7 as shown in FIG. 2 to eliminate the influence of light other than laser light. Each one-dimensional CCD camera 2 has a one-dimensional visual field 2 in the lane width direction with respect to the road surface 102.
A shall be obtained. In addition, one lane width may be taken into view with a plurality of one-dimensional CCD cameras. 3 is a passing vehicle. The output signal of the one-dimensional CCD camera 2 is transmitted to a signal processing device 5 via a cable 4, and the passing vehicle 3 is detected by the signal processing device 5. The signal processing device 5 is a vehicle 1
The pulse signal 5A is output every time the vehicle passes.

The equipment 10 is a marking irradiation device, which is directed obliquely downward so as to irradiate the intermittent marking image 6 on the road surface 102. The marking irradiation device 10 includes a cylindrical lens 13 in this embodiment, in addition to the laser spot light source 11 and the diffraction grating 12. Diffraction grating 1
Numeral 2 is for making the laser spot light source 11 into an intermittent marking image. The cylindrical lens 13 is used for converting the intermittent marking image of the dotted line pattern into the intermittent marking image 6 of the striped pattern. By widening the width of the striped pattern, the mounting adjustment of the one-dimensional CCD camera 2 can be easily performed. Become. The intermittent marking image 6 is formed in the lane width direction.

The one-dimensional CCD camera 2 and the marking irradiation device 10 are installed at an interval in the lane direction and their optical axes are directed inward, so that the intermittent marking image 6 from the marking irradiation device 10 is obtained. Is incident on the one-dimensional CCD camera 2 only when is reflected on the road surface.

Next, the role of the intermittent marking image 6 will be described with reference to FIGS. FIG. 2 shows the state of the intermittent marking image 6 when passing through the vehicle. FIG. 3 shows an example of the output signal 2B when the one-dimensional CCD camera 2 captures the road surface. As shown in FIG. 2, when the vehicle 3 passes, the marking image 6 at the passing position is reflected by the vehicle 3 and disappears from the field of view of the one-dimensional CCD camera 2. Therefore, one-dimensional C
The output signal 2B of the CD camera 2 changes from FIG. 3A to FIG. Therefore, the intermittent marking image 6 in the signal 2B
The position where the vehicle 3 has passed can be known from the position 2C where the vehicle 3 has disappeared. For example, even if the motorcycle is translated, two places 2C where there is no intermittent marking image 6 can be separated. Also, if there is no passing vehicle in the lane immediately below the one-dimensional CCD camera 2 and a large truck passes through the adjacent lane, a truck shadow is formed in the field of view of the one-dimensional CCD camera 2 depending on the direction of the sun. Since the intermittent marking image 6 does not disappear even in the shadow area, it can be seen that there is no vehicle in this lane. By detecting the presence or absence of the intermittent marking image 6 as described above, the vehicle can be accurately detected.

Next, a specific example of the signal processing device 5 will be described with reference to FIG. The signal processing device 5 includes an A / D converter 14
, A binarization circuit 15, a vehicle determination circuit 16, a binary level register 17, a one-dimensional memory 18, and a computer 19, and further includes a passing number counter 20 and a presence counter 21 as display devices. ing.

The operation of the signal processing device 5 will be described. First,
The signal a of the one-dimensional CCD camera 2 is converted into a digital signal by the A / D converter 14, and is binarized by the binarization circuit 15 by the threshold value of the binarization level register 17. The vehicle determination circuit 16 outputs a non- "1", that is, "0" if "1" comes within a certain period in the signal b of the binarization circuit 15, and "1" otherwise. The vehicle determination circuit 16 stores the output signal c in the one-dimensional memory 18. FIG. 5 shows the signal waveforms of a, b, and c in the signal processing device 5 shown in FIG. That is, as shown by the waveform of the signal c of the vehicle discriminating circuit 16, the position where the vehicle passes is non- "0", that is, "1", and the position other than that is "0". And the number of vehicles passed is counted. And the passing number counter 20
Shows the cumulative number of vehicles passed.

FIG. 6 illustrates a vehicle discrimination logic by the computer 19 using the signal waveform at the point c.
FIG. 6 (a) shows a truck 3 and a motorcycle 3A with pillars stacked on a carrier.
Indicates that translation is performed, and the signal of the one-dimensional CCD camera 2 is captured eight times. As a result, the data in the one-dimensional memory 18 becomes as shown in FIG. 6B. If there are two non- "0" or "1" positions, it is determined that two vehicles are passing. If there is a portion where the position of "1" overlaps the previous signal, it is regarded as the same vehicle. Therefore, when the vehicle is captured for the second time, it is determined that two vehicles are passing.
In the signal of the first time, one vehicle 3 is obtained, and in the fifth time, it is confirmed that two vehicles 3, 3A have passed, and in the eighth time, it is determined that the two vehicles 3, 3A have passed.

Next, a vehicle detection procedure in the computer 19 will be described with reference to FIGS. FIG. 6 shows the contents of the one-dimensional memory 18 over time, and FIG. 7 shows a flowchart.

As shown in FIG. 6, even if the contents of the one-dimensional memory 18 are non- "0" such as t = 1 for one vehicle 3, another one of the one-dimensional memories 18 such as t = 2. When an area of “1” is generated with “0” interposed at the place, it is detected that another vehicle has entered. However, the computer 19 checks the contents of the one-dimensional memory 18 each time it is updated, and there is a lump of "1" divided into two areas, and this is merged into one later as t = 3. If it is found, it is determined that this is one vehicle 3 again. That is, the determination is completed not at the moment when the one-dimensional memory 18 changes from all "0" to non- "0" but at the time when the vehicle leaves. If the non- "0" portion becomes "0" as a result of successive updating, it is determined that the vehicle has passed from the detection area, and the output signal is dropped. That is, the detection of the entry of the vehicle includes the detection of the first vehicle and the detection of the second vehicle, and also detects the exit for each of the detected vehicles 3 and 3A. As described above, the computer 19 determines the content of the one-dimensional memory 18 while comparing it with the content of the one-dimensional memory 18 at the time of the previous scan. This is performed by performing a labeling process such as attaching a label to each vehicle.

The output from the computer 19 is obtained through a passing number counter 20 and an existing counter 21. The passing number counter 20 is counted up one after another when a vehicle is detected. Therefore, this counter 20 specifies the number of passing vehicles. In addition, the presence counter 21 indicates C
The number of vehicles existing in the field of view of the CD camera 2 is specified. Therefore, when there is a motorcycle to be translated, the counter 21 displays, for example, two.

Here, the size of the one-dimensional memory 18 is determined in relation to the number of pixels of the optical sensor constituting the one-dimensional CCD camera 2. When a 1000 pixel CCD camera is used in principle, the one-dimensional memory 18 also has a capacity of 1000 bits. When the number of pixels of the one-dimensional CCD camera 2 is 1000 and the road width is 5000 mm,
One pixel corresponds to 5 mm on the road surface.

Therefore, on the road surface of the intermittent marking image 6 ,
Is a cycle larger than 5 mm corresponding to one pixel and smaller than the width of a small vehicle such as a motorcycle. In the present invention, a vehicle is detected based on the presence or absence of a periodic signal in the output signal of the optical array sensor.
Approximately five to five cycles are required. Suppose five cycles,
The cycle of the marking image 6 on the road surface is 100 mm. That is , the intermittent period of the intermittent marking image 6 on the road surface
Intermittent marking image 6 formed on CCD camera 2
Is longer than the period of the pixels of the CCD camera 2 (the
In other words, the intermittent marking image 6 formed on the road surface
The cycle is large enough to correspond to one pixel on the road surface of the CCD camera 2.
On the road surface of the intermittent marking image 6
To <br/> as intermittent periods of less than the minimum width of the passing vehicle.

As described above, when the one-dimensional CCD camera 2 and the marking irradiation device 10 are used to collect tolls using a wireless IC card in the main lane of a toll road,
In addition, as a vehicle detection device for measuring traffic volume, etc., the vehicle can be accurately detected even under special conditions such as translation of a vehicle in a lane, passing of a motorcycle during a stagnation, or shading.

Next, a vehicle detecting device according to another embodiment of the present invention will be described with reference to FIGS.

In the vehicle detection device shown in FIG. 8, in addition to the one-dimensional CCD camera 2, signal processing device 5, and marking irradiation device 10 shown in FIG. One or more discriminating treads 30 are provided as auxiliary sensors for vehicle detection, and the signal processing device 5 uses not only signals from the one-dimensional CCD camera 2 but also signals from the vehicle type discriminating treads 30 to perform vehicle detection processing. I do.

FIG. 9 shows the structure of the vehicle type discrimination tread plate 30. The vehicle type discrimination tread 30 is used by being buried on the road 109 as described above. Inside the vehicle type discriminating tread, conductive contacts 31,
32 are arranged in the vehicle width direction. Then, when the tire 33 of the vehicle passes over this contact point, a pressure 34 is generated,
The conductor contacts 31 and 32 come into contact, and current flows. When this contact information is mapped on the memory, the contact information 35 to 38 and 40, as shown in FIG.
The map information consisting of 41 is obtained. That is, 35-3
When four pieces of contact information of 8 are obtained, the contact information group indicated by 39 is recognized based on the arrangement, the car is determined to be a passenger car, and when two pieces of contact information of 40 to 41 are obtained,
The contact information group indicated by reference numeral 42 is recognized, and it can be determined that the motorcycle is a motorcycle.

FIG. 11 shows an example of a schematic configuration of the signal processing device 5. The memory 43 for the vehicle type discriminating tread board 30, the line sensor memory 44 for the one-dimensional CCD camera 2, and the synthesizing memory 4
5 and a matching device 46. A more detailed configuration of this is shown in FIG. 12, and when compared with FIG. 4, the one-dimensional memory 18 in FIG. 4 corresponds to the line sensor memory 44 in FIG.
Reference numeral 5 corresponds to the one-dimensional memory 18 in FIG. The function of the matching device 46 is taken over by the computer 19.

Referring to FIG. 11, the vehicle detecting device according to the present embodiment will be described. In FIG. 11, first, a tire of a passing vehicle applies a pressing force to a vehicle type determining tread plate 30, and the vehicle type determining tread plate 3
The 0 contact is made conductive. Then, in synchronization with the synchronization signal 47 sent from the one-dimensional CCD camera 2, the conduction / non-conduction state of each contact in the vehicle width direction, that is, contact information is transmitted to the vehicle type discriminating tread board memory 43. Then, as time elapses, map information 49 as shown in FIG. 49A is contact ON information.

Using the one-dimensional CCD camera 2, the contour of the image of the vehicle passing from the gantry 1 to the vehicle type discrimination tread plate 30 is cut out in the same manner as in the previous embodiment, and stored in the line sensor memory 44. In this manner, map information 50 as shown in FIG. 13 can be obtained in the line sensor memory 44 as time passes. 44A is non- "0"
Area. At this time, the vehicle type discrimination tread plate 30 and the CC
To match the time axis of the D camera 2,
The synchronization signal 47 is output from the D camera to the vehicle type discrimination tread plate 30.

Then, the contents of the two memories 43 and 44 are superimposed and stored in the synthesizing memory 45. The matching device 46 obtains the contents of the synthesizing memory 45 from FIG.
First, the areas indicated by 51 and 52 are recognized as two motorcycles instead of passenger cars, and the area indicated by 54 is recognized as a large vehicle. Further, the vehicle which cannot be seen by the one-dimensional CCD camera 2 behind the shadow of the large vehicle as shown by an area 53 in FIG. By comparison,
Recognize as a motorcycle.

If the vehicle does not move due to traffic congestion on the road, the memory 43 for discriminating the vehicle type and the line sensor memory 44 may store only the same information. At this time, the memory capacity becomes insufficient, and a memory overflow occurs. In order to prevent this, in this embodiment, the matching circuit device 46 cuts out the vehicle width information from the vehicle type discriminating treadboard memory 43, and predicts the length of the vehicle based on the ratio of the vehicle width to the length direction of a general vehicle. If memory contents longer than the predicted length continue, a delete signal 48 is output to store unnecessary memory data in the direction of elapsed time in each of the memories 43 and 4.
4 will be deleted. Thus, for example, even if the passenger car is stopped due to traffic congestion, it is not erroneously determined that the vehicle is a trailer truck. If the data input to the vehicle type discriminating treadboard memory 43 or the line sensor memory 44 does not change for a certain period of time, a similar deletion signal 48 is output,
We are going to delete monotonous memory data. This eliminates memory overflow.

In the vehicle detecting device of the above embodiment, the vehicle type and the number of axes of the tires of the vehicle are detected by the vehicle type determining tread plate 30, the contact information thereof is stored in the vehicle type determining tread plate memory 43, and the one-dimensional CCD camera 2 is used. Captures an image of the vehicle, and stores the image information in the line sensor memory 44. At this time,
From the one-dimensional CCD camera 2, a scanning signal is
The contact information of the vehicle type discrimination tread 30 is sampled in synchronization with the synchronizing signal 47. The contents of these two memories 43 and 44 are combined in the combining memory 45, and the matching device 46 determines the type and number of passing vehicles to detect the vehicle. Therefore, a case where the motorcycles are running in parallel is not erroneously determined to be a passenger car, and a motorcycle or the like that is hidden in the shadow by approaching a large vehicle is not overlooked. In addition, by outputting the delete signal 48 from the matching device 46, it is possible to prevent the memory from overflowing due to unnecessary information during a traffic jam. As described above, by using the vehicle type discriminating tread 30 as an auxiliary sensor for vehicle detection, the type and number of passing vehicles can be accurately grasped, and unmanned toll collection on toll roads and the like can be greatly accelerated.

In the above-described embodiment, the vehicle type discrimination tread plate 30 is used as an auxiliary sensor for vehicle detection. However, a loop coil, an ultrasonic transceiver, or a microwave transceiver (not shown) may be used. it can. (1) An appropriate number of loop coils are embedded in the road surface on which the intermittent marking image 6 is irradiated so as to be sensitive to the vehicle. Accordingly, even if the intermittent marking image 6 is erased by reflection from a cardboard box, a person, or dust or dirt that has fallen and a vehicle is present for the one-dimensional CCD camera 2, a loop coil is included in these. Is not sensitive, the signal processing device 5 is provided with a determination function of not detecting the vehicle unless there is a detection output of the loop coil. (2) The ultrasonic transmitter / receiver is installed, for example, in the gantry 1 so that the area above the intermittent marking 6 is set as a detection area so that a passing vehicle can be detected. When an ultrasonic handset is used, a person is detected in addition to the vehicle. However, even if there is dust or dirt, the detection signal is the same as that of a road surface. Therefore, even if the intermittent marking image 6 is erased by reflection due to dust or dirt and a vehicle is present for the one-dimensional CCD camera 2, the ultrasonic transmitter / receiver is insensitive to these. The signal processing device 5 has a determination function of not detecting a vehicle unless the vehicle detection output of the device is present.
To have. (3) The microwave handset is also installed in the gantry 1, for example, so that the intermittent marking image 6 is set as the detection area.
Make sure that passing vehicles can be detected. When a microwave handset is used, a moving object such as a vehicle is detected. However, even if there is a person, a cardboard box, dust, or dirt, there is no Doppler shift, so that these are the same detection signals as the road surface. Therefore, the intermittent marking image 6 is reflected and erased by dust and dirt, and further by a cardboard box or a person, and the one-dimensional C image is reflected.
Even if a vehicle is present for the CD camera 2, since the microwave handset is not sensitive to these, a determination function for preventing the vehicle from being detected unless a vehicle detection output of the microwave handset is provided. Processing device 5
To have.

[0033]

As described above, according to the present invention, by using an optical array sensor and a marking irradiation device for producing an intermittent marking image, translation in the lane of a vehicle, overtaking of a motorcycle during a stagnation, or shade. The vehicle can be accurately detected even under special conditions such as the occurrence of.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a vehicle detection device according to one embodiment of the present invention.

FIG. 2 is a diagram showing a state of an intermittent marking image when passing through a vehicle.

FIG. 3 is a diagram showing a waveform example of input light.

FIG. 4 is a block diagram illustrating a configuration example of a signal processing device.

FIG. 5 is a diagram showing a waveform example of each part of the signal processing device.

FIG. 6 is a diagram showing a state of one-dimensional memory contents.

FIG. 7 is a flowchart illustrating an example of a signal processing procedure.

FIG. 8 is a schematic diagram of a vehicle detection device according to another embodiment of the present invention.

FIG. 9 is a diagram showing a configuration example of a vehicle type discrimination tread plate.

FIG. 10 is a diagram showing an example of a map of contact information.

FIG. 11 is a block diagram illustrating a configuration example of a signal processing device.

FIG. 12 is a block diagram showing a configuration example corresponding to FIG. 4 of the signal processing device.

FIG. 13 is an explanatory diagram of the operation of the signal processing device.

FIG. 14 is a diagram showing a conventional ultrasonic vehicle detection device.

FIG. 15 is a diagram showing a conventional optical vehicle detection device.

[Explanation of symbols]

 Reference Signs List 1 gantry 2 one-dimensional CCD camera 3 passing vehicle 4 cable 5 signal processing device 6 intermittent marking image 10 marking irradiation device 30 vehicle type discrimination tread

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Seiki Kato 2-1-1, Shinhama, Arai-machi, Takasago-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Takasago Research Laboratory (72) Inventor Toshiichiro Yamashita 2-1-1, Shin-ama, Arai-machi, Takasago-shi, Hyogo Prefecture No. 1 Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Inventor Ichiro Fujita 1-1, Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Inside Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (56) References JP-A-4-40595 (JP, A) JP-A-63-282603 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G08G 1/00-1/16

Claims (2)

(57) [Claims] 1. A marking irradiation device that includes a laser light source and a diffraction grating installed above a road surface and irradiates an intermittent marking image in a lane width direction onto the road surface, and a marking irradiation device that is not parallel to an optical axis of the marking irradiation device above the road surface. An optical array sensor that is installed to have an optical axis and obtains a one-dimensional light amount signal in the lane width direction of an intermittent marking image from a road surface, an optical system installed in the optical array sensor, and the optical array sensor ; and a signal processor for performing vehicle detection processing from the output signal,
Intermittent circumference of intermittent marking image formed on optical array sensor
The period is longer than the pixel period of the optical array sensor and on the road surface
The intermittent period of the intermittent marking image formed on the
A vehicle detection device characterized by being shorter than a minimum width of the vehicle. 2. A tread having a contact buried in a road surface,
The apparatus further comprises at least one sensor of a loop coil embedded in a road surface, an ultrasonic transceiver installed above the road surface, and a microwave transceiver installed above the road surface, and the signal processing device outputs the sensor. The vehicle detection device according to claim 1, wherein vehicle detection processing is performed based on a signal and an output signal of the optical array sensor.