公开(公告)号：US08311342B2

公开(公告)日：2012-11-13

申请号：US12289215

申请日：2008-10-22

申请人： Thomas Schopp ,  Alexander Tomm ,  Frank Erb

发明人： Thomas Schopp ,  Alexander Tomm ,  Frank Erb

IPC分类号： G06K9/62

CPC分类号： G06K9/00214 ,  G06K9/685

摘要： A method for the classification of objects (16) and/or the recognition of their position and/or their orientation in space is set forth, wherein measurement object data points of a measurement object surface are generated using a distance resolving receiver unit (18) and, with the aid of model object data determined in advance, hypotheses on the class, the position and/or the orientation of a measurement object (16) are proposed and verified from the measurement object data points. A plurality of different hypothesis tests can be executed cascaded in such a way that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through a cascade without falsification.

摘要翻译： 提出了一种用于分类物体（16）和/或其位置和/或其在空间中的取向的识别的方法，其中测量对象表面的测量对象数据点使用距离分解接收器单元（18）产生， 并且借助于预先确定的模型对象数据，从测量对象数据点提出并验证测量对象（16）的类别，位置和/或取向的假设。 可以以这样的方式执行多个不同的假设检验，使得只有通过假设检验验证假设是在该级联中进行的随后的假设检验，直到假设由于假设检验的失败而被篡改或 一个假设通过一个完整的级联验证整体而不会被伪造。

公开(公告)号：US20110153139A1

公开(公告)日：2011-06-23

申请号：US12970236

申请日：2010-12-16

申请人： Frank ERB ,  Matthias Feser

发明人： Frank ERB ,  Matthias Feser

IPC分类号： G05D1/02 ,  G01C21/04 ,  B60T8/172 ,  G01B11/14

CPC分类号： G01S17/936 ,  B66F9/063 ,  B66F9/0755 ,  G01S7/4812 ,  G01S17/06 ,  G01S17/42

摘要： An optoelectronic sensor (10), in particular a laser scanner, for a vehicle (100) which moves on a path (104) bordered at both sides, said optoelectronic sensor having a light receiver (24) for the conversion of received light (20) into electric signals as well as an evaluation unit (30, 34) which is configured to determine the position of objects in a monitored zone of the sensor (10) from the electric signals and to recognize whether an unauthorized object is located within a protected field (102) dynamically changing in position and/or extent, wherein a safety output (32) is provided via which a stop signal or a brake signal can be output to the vehicle (100) by the evaluation unit (30, 34) on the recognition of a protected field intrusion. The evaluation unit (30, 34) is furthermore configured to recognize borders (110) of the path (104) from the electric signals and to fit the protected field (102) dynamically into the borders (110).

摘要翻译： 一种用于车辆（100）的光电传感器（10），特别是用于在两侧边界的路径（104）上移动的激光扫描器，所述光电传感器具有用于转换接收光的光接收器（24） ）以及评估单元（30,34），其被配置为从电信号确定传感器（10）的监视区域中的对象的位置，并且识别未经授权的对象是否位于受保护的 （102）在位置和/或程度上动态地改变，其中提供安全输出（32），通过所述安全输出（32）可以通过所述评估单元（30,34）将停止信号或制动信号输出到所述车辆（100） 承认受保护的现场入侵。 评估单元（30,34）还被配置为从电信号识别路径（104）的边界（110）并且将受保护的场（102）动态地适配到边界（110）中。

公开(公告)号：US20110095170A1

公开(公告)日：2011-04-28

申请号：US12909247

申请日：2010-10-21

申请人： Frank ERB ,  Daniel WAGNER

发明人： Frank ERB ,  Daniel WAGNER

IPC分类号： G01J1/44

CPC分类号： G01S17/026 ,  F16P3/144 ,  G01S7/4802 ,  G01S17/42 ,  G01S17/87 ,  G01V8/18 ,  G05B9/02

摘要： A safety scanner (10) is set forth for securing a monitored zone (18), wherein the safety scanner (10) has a light transmitter (12) for transmitting a light beam (14), a deflection unit (16) for the periodic deflection of the light beam (14) into the monitored zone (18), a light receiver (24) for generating received signals from the light beam (20) remitted by objects in the monitored zone (18) as well as an evaluation unit (30) which is made to recognize intrusions into a protected field within the monitored zone (18) with reference to the received signals and thereupon to provide a securing signal, except for the case that the intrusion can be associated with an expected dangerous object (40). In this respect, the evaluation unit (30) is made to track the dangerous object (40) in the protected field and to carry out the association of intrusions with the expected dangerous object (40) with reference to the contour and to the then current position, orientation and/or speed of the dangerous object (40).

摘要翻译： 安全扫描器（10）被设置用于固定被监视的区域（18），其中安全扫描器（10）具有用于传输光束（14）的光发射器（12），用于周期性地发射光束的偏转单元（16） 将光束（14）偏转到被监视区域（18）中的光接收器（24），用于从被监视区域（18）中的物体汇出的光束（20）产生接收信号的光接收器（24） 30），其被引导为参考所接收到的信号将入侵识别入监控区域（18）内的受保护区域，并因此提供固定信号，除了入侵可与预期的危险物体（40 ）。 在这方面，使评估单元（30）跟踪受保护区域中的危险物体（40），并参照轮廓执行与期望的危险物体（40）的入侵的关联， 危险物体（40）的位置，方向和/或速度。

公开(公告)号：US08471192B2

公开(公告)日：2013-06-25

申请号：US12909247

申请日：2010-10-21

申请人： Frank Erb ,  Daniel Wagner

发明人： Frank Erb ,  Daniel Wagner

IPC分类号： G06M7/00

CPC分类号： G01S17/026 ,  F16P3/144 ,  G01S7/4802 ,  G01S17/42 ,  G01S17/87 ,  G01V8/18 ,  G05B9/02

摘要： A safety scanner (10) is set forth for securing a monitored zone (18), wherein the safety scanner (10) has a light transmitter (12) for transmitting a light beam (14), a deflection unit (16) for the periodic deflection of the light beam (14) into the monitored zone (18), a light receiver (24) for generating received signals from the light beam (20) remitted by objects in the monitored zone (18) as well as an evaluation unit (30) which is made to recognize intrusions into a protected field within the monitored zone (18) with reference to the received signals and thereupon to provide a securing signal, except for the case that the intrusion can be associated with an expected dangerous object (40). In this respect, the evaluation unit (30) is made to track the dangerous object (40) in the protected field and to carry out the association of intrusions with the expected dangerous object (40) with reference to the contour and to the then current position, orientation and/or speed of the dangerous object (40).

摘要翻译： 安全扫描器（10）被设置用于固定被监视的区域（18），其中安全扫描器（10）具有用于传输光束（14）的光发射器（12），用于周期性地发射光束的偏转单元（16） 将光束（14）偏转到被监视区域（18）中的光接收器（24），用于从被监视区域（18）中的物体汇出的光束（20）产生接收信号的光接收器（24） 30），其被引导为参考所接收到的信号将入侵识别入监控区域（18）内的受保护区域，并因此提供固定信号，除了入侵可与预期的危险物体（40 ）。 在这方面，使评估单元（30）跟踪受保护区域中的危险物体（40），并参照轮廓执行与期望的危险物体（40）的入侵的关联， 危险物体（40）的位置，方向和/或速度。

公开(公告)号：US20090110301A1

公开(公告)日：2009-04-30

申请号：US12289215

申请日：2008-10-22

申请人： Thomas Schopp ,  Alexander Tomm ,  Frank Erb

发明人： Thomas Schopp ,  Alexander Tomm ,  Frank Erb

IPC分类号： G06K9/62

CPC分类号： G06K9/00214 ,  G06K9/685

摘要： A method for the classification of objects (16) and/or the recognition of their position and/or their orientation in space is set forth, wherein measurement object data points of a measurement object surface are generated using a distance resolving receiver unit (18) and, with the aid of model object data determined in advance, hypotheses on the class, the position and/or the orientation of a measurement object (16) are proposed and verified from the measurement object data points. A plurality of different hypothesis tests can be executed cascaded in such a way that only on verification of a hypothesis through a hypothesis test is a subsequent hypothesis test carried out within this cascade, until either a hypothesis is falsified by the failure of a hypothesis test or a hypothesis is verified as a whole through a complete run through a cascade without falsification.

摘要翻译： 提出了一种用于分类物体（16）和/或其位置和/或其在空间中的取向的识别的方法，其中测量对象表面的测量对象数据点使用距离分解接收器单元（18）产生， 并且借助于预先确定的模型对象数据，从测量对象数据点提出并验证测量对象（16）的类别，位置和/或取向的假设。 可以以这样的方式执行多个不同的假设检验，使得只有通过假设检验验证假设是在该级联中进行的随后的假设检验，直到假设由于假设检验的失败而被篡改或 一个假设通过一个完整的级联验证整体而不会被伪造。

公开(公告)号：US08406950B2

公开(公告)日：2013-03-26

申请号：US12970236

申请日：2010-12-16

申请人： Frank Erb ,  Matthias Feser

发明人： Frank Erb ,  Matthias Feser

IPC分类号： G05D1/00

CPC分类号： G01S17/936 ,  B66F9/063 ,  B66F9/0755 ,  G01S7/4812 ,  G01S17/06 ,  G01S17/42

摘要： An optoelectronic sensor (10), in particular a laser scanner, for a vehicle (100) which moves on a path (104) bordered at both sides, the optoelectronic sensor having a light receiver (24) for the conversion of received light (20) into electric signals as well as an evaluation unit (30, 34) which is configured to determine the position of objects in a monitored zone of the sensor (10) from the electric signals and to recognize whether an unauthorized object is located within a protected field (102) dynamically changing in position and/or extent, wherein a safety output (32) is provided via which a stop signal or a brake signal can be output to the vehicle (100) by the evaluation unit (30, 34) on the recognition of a protected field intrusion. The evaluation unit (30, 34) is furthermore configured to recognize borders (110) of the path (104) from the electric signals and to fit the protected field (102) dynamically into the borders (110).

摘要翻译： 一种用于车辆（100）的光电传感器（10），特别是用于在两侧边界的路径（104）上移动的激光扫描器，所述光电传感器具有用于转换接收光的光接收器（20） ）以及评估单元（30,34），其被配置为从电信号确定传感器（10）的监视区域中的对象的位置，并且识别未经授权的对象是否位于受保护的 （102）在位置和/或程度上动态地改变，其中提供安全输出（32），通过所述安全输出（32）可以通过所述评估单元（30,34）将停止信号或制动信号输出到所述车辆（100） 承认受保护的现场入侵。 评估单元（30,34）还被配置为从电信号识别路径（104）的边界（110）并且将受保护的场（102）动态地适配到边界（110）中。