JP6339134B2 - 距離センサ - Google Patents
距離センサ Download PDFInfo
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- JP6339134B2 JP6339134B2 JP2016148003A JP2016148003A JP6339134B2 JP 6339134 B2 JP6339134 B2 JP 6339134B2 JP 2016148003 A JP2016148003 A JP 2016148003A JP 2016148003 A JP2016148003 A JP 2016148003A JP 6339134 B2 JP6339134 B2 JP 6339134B2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Geophysics And Detection Of Objects (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
- Manipulator (AREA)
Description
2…危険領域
3…可動機械部品
4…防護領域
5…工具
6…センサモジュール
7…前解析ユニット
8…バスライン
9…保安用出力
10…制御及び解析ユニット
11…補助光学系
12…光伝播時間型センサ
13…受光器
14…シングルフォトンアバランシェダイオード(SPAD)
16…ロボットアーム
17…発光器
18…アレイ
19…加工品
Claims (16)
- 防護領域(4)を用いて可動機械部品(3)上の危険領域(2)を監視するための保安用光電式距離センサであって、該保安用距離センサ(1)は前記可動機械部品(3)上に配置され、該可動機械部品(3)には工具(5)が配置され、前記防護領域(4)は、該保安用距離センサ(1)の応答時間及び前記可動機械部品(3)の動きを停止するための時間に依存した距離を空けて前記工具(5)を包み込むセンサにおいて、
多数の距離センサ(1)がモジュール式に配置され、
前記防護領域(4)が前記工具(5)の輪郭乃至空間的な広がりに対して適合化されていること、及び
前記距離センサ(1)の受光器(13)が、シングルフォトンアバランシェダイオード(14)から成る少なくとも1つのアレイ(18)を備えていること
を特徴とする保安用光電式距離センサ。 - 前記危険領域内に参照標的が配置されていることを特徴とする請求項1に記載のセンサ。
- 前記工具(5)が交換可能に構成され、前記保安用距離センサ(1)が該工具(5)上に配置されていることを特徴とする請求項1又は2に記載のセンサ。
- 前記距離センサ(1)が高度集積型センサモジュール(6)を備え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センサ。
- 各距離センサ(1)が前解析ユニット(7)を備えていることを特徴とする請求項1〜4のいずれかに記載のセンサ。
- 前記距離センサ(1)がバスライン(8)を通じて相互に接続され、該バスライン(8)上で保安用データを伝送することができることを特徴とする請求項1〜5のいずれかに記載のセンサ。
- 前記バスライン(8)上で保安用スイッチ信号及び/又は保安用距離データを伝送することができることを特徴とする請求項6に記載のセンサ。
- 複数の距離センサ(1)が共通の制御及び解析ユニット(10)を備え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センサ。
- 前記距離センサ(1)が補助光学系(11)を備え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センサ。
- 個々の距離センサ(1)の防護領域(4)が線状又は面状に形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センサ。
- 前記防護領域(4)が、組み合わされた複数の距離センサ(1)により格子状又は多面状に形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センサ。
- 個々又は複数の距離センサ(1)の防護領域(4)が部分毎に平らに及び/又は弓形に形成されていることを特徴とする請求項1〜11のいずれかに記載のセンサ。
- 前記距離センサ(1)が光伝播時間型センサ(12)であることを特徴とする請求項1〜12のいずれかに記載のセンサ。
- 前記距離センサ(1)が三角測量センサであることを特徴とする請求項1〜13のいずれかに記載のセンサ。
- 請求項1〜14のいずれかに記載の距離センサ(1)を少なくとも2つの備える可動機械部品(3)。
- 少なくとも1つの保安用光電式距離センサ(1)を備える可動機械部品(3)上で防護領域(4)を用いて危険領域(2)を監視する方法であって、前記保安用距離センサ(1)は前記可動機械部品(3)上に配置され、該可動機械部品(3)には工具(5)が配置され、前記防護領域(4)は、前記保安用距離センサ(1)の応答時間及び前記可動機械部品(3)の動きを停止するための時間に依存した距離を空けて前記工具(5)を包み込む方法において、
多数の距離センサ(1)がモジュール式に配置され、
前記防護領域(4)が前記工具(5)の輪郭乃至空間的な広がりに対して適合化されること、及び
前記距離センサ(1)の受光器(13)が、シングルフォトンアバランシェダイオード(14)から成る少なくとも1つのアレイ(18)を備えていること
を特徴とする方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015112656.7A DE102015112656A1 (de) | 2015-07-31 | 2015-07-31 | Distanzsensor |
DE102015112656.7 | 2015-07-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017078707A JP2017078707A (ja) | 2017-04-27 |
JP6339134B2 true JP6339134B2 (ja) | 2018-06-06 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016148003A Active JP6339134B2 (ja) | 2015-07-31 | 2016-07-28 | 距離センサ |
Country Status (4)
Country | Link |
---|---|
US (1) | US10295331B2 (ja) |
EP (1) | EP3136127B1 (ja) |
JP (1) | JP6339134B2 (ja) |
DE (1) | DE102015112656A1 (ja) |
Cited By (1)
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EP4034352A4 (en) * | 2019-09-27 | 2023-11-15 | HighRes Biosolutions, Inc. | ROBOTIC TRANSPORT SYSTEM AND ASSOCIATED METHOD |
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DE102017012251A1 (de) | 2017-10-20 | 2019-04-25 | Sick Ag | Sende-Empfangsmodul für einen optoelektronischen Sensor und Verfahren zur Erfassung von Objekten |
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JP2019152616A (ja) | 2018-03-06 | 2019-09-12 | オムロン株式会社 | 光測距センサ |
JP2019188556A (ja) * | 2018-04-26 | 2019-10-31 | オムロン株式会社 | センサコントローラ、ロボットシステム、センサ制御方法、およびプログラム |
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2015
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- 2016-07-28 US US15/222,020 patent/US10295331B2/en active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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EP4034352A4 (en) * | 2019-09-27 | 2023-11-15 | HighRes Biosolutions, Inc. | ROBOTIC TRANSPORT SYSTEM AND ASSOCIATED METHOD |
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DE102015112656A1 (de) | 2017-02-02 |
EP3136127B1 (de) | 2019-09-11 |
US10295331B2 (en) | 2019-05-21 |
US20170030708A1 (en) | 2017-02-02 |
JP2017078707A (ja) | 2017-04-27 |
EP3136127A1 (de) | 2017-03-01 |
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