EP3222487B1 - Detection d'un objet mobile a partir de son ombre - Google Patents

Detection d'un objet mobile a partir de son ombre Download PDF

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Publication number
EP3222487B1
EP3222487B1 EP16161741.0A EP16161741A EP3222487B1 EP 3222487 B1 EP3222487 B1 EP 3222487B1 EP 16161741 A EP16161741 A EP 16161741A EP 3222487 B1 EP3222487 B1 EP 3222487B1
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EP
European Patent Office
Prior art keywords
sensor
illumination unit
image
image sensor
light beam
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.)
Active
Application number
EP16161741.0A
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German (de)
English (en)
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EP3222487A1 (fr
Inventor
Herr Siegfried Ringwald
Matthias Ackermann
Frank Blöhbaum
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sick AG
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Sick AG
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Publication date
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Publication of EP3222487A1 publication Critical patent/EP3222487A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or train
    • B61L1/02—Electric devices associated with track, e.g. rail contacts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/02—Profile gauges, e.g. loading gauges
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G9/00—Traffic control systems for craft where the kind of craft is irrelevant or unspecified

Definitions

  • the invention relates to an optoelectronic sensor for detecting a moving object and to a method for detecting an antenna or other narrow object moving along with a vehicle according to the preamble of claims 1 and 13.
  • the over-height control of vehicles is a particularly demanding application for optoelectronic sensors.
  • the basic task is to detect the presence of a moving object in a surveillance area. This becomes difficult with very narrow objects and high speeds.
  • An instructive example is the detection in the current train traffic, whether in a loaded on a train vehicle, the antenna towers too high, because that can lead to serious damage by touching the overhead lines.
  • a known procedure for the detection of excessive height injuries in traffic is based on in the monitored height mutually aligned double light barriers on both sides of the road or track.
  • the two light barriers are triggered in succession when passing through a vehicle of corresponding height or on an object loaded on the vehicle.
  • the light barriers are configured so that they do not trigger on small objects such as raindrops or snowflakes.
  • the detection times of the individual light barriers are plausibilized with a movement pattern derived from typical vehicle speeds.
  • the light barrier can only distinguish between snow and rain interference from larger objects.
  • an analogous structure can be used, but instead of the simple photodiode of a light barrier, a camera is used.
  • a bright laser diode illuminates the camera and thus casts an object shadow when an object to be detected passes through the transmitted light beam. This shadow can be analyzed by image analysis and thus the object can be detected.
  • an optoelectronic sensor for detecting a moving object as well as a method for detecting a moving along with a vehicle antenna or other narrow object according to claim 1 or 13.
  • the basic structure according to the invention remains similar to a light barrier, but a spatially resolving line or matrix-shaped image sensor is used instead of a simple photodiode which is illuminated by a lighting unit. Accordingly, a beam interruption is not simply detected, but the image of the image sensor or an image sequence is analyzed in an image evaluation process.
  • the invention is based on the basic idea of using a plurality of individual light sources with an aperture arrangement for illumination, which passes only part of the transmitted light beam.
  • the individual light sources ensure a certain mixing of their respective individual light beams, so that the transmitted light beam has no or at least significantly less coherence.
  • the diaphragm arrangement effectively cuts out a particularly homogeneous partial beam from the transmitted light beam and uses only this partial beam for detection.
  • the invention has the advantage that no or at least less interference patterns are recorded with the image sensor. Diffraction patterns such as speckle effects and others, which can be mistaken for a small object to be detected in the shadow image, are produced in the case of the conventionally used individual lasers.
  • the diaphragm arrangement ensures that the effectively effective transmitted light beam is particularly homogeneous and thus a stray-light-resistant, constant intensity is achieved on the side of the image sensor. This again makes the detection of small objects easier, and also provides some robustness to shocks.
  • the invention achieves independence from the radiation characteristic as a whole, because it only depends on the selected by the aperture arrangement cut.
  • the transmitted light were as conventionally coherent, additional interference effects would result in interaction with the diaphragm.
  • the individual light sources are preferably not monochromatic, so that a certain spectral width is created. Overall, a much more reliable image analysis is possible, which increases the recognition accuracy significantly, especially in poor weather conditions.
  • the illumination unit preferably has a VCSEL array.
  • a compact lighting module meets the requirements in terms of characteristics such as spectral width, radiation characteristics, mixing, efficiency, optical output and longevity.
  • the individual light sources are the individual VSCELs.
  • the subregion is preferably a middle region.
  • the selected by the aperture arrangement sub-beam of the transmitted light beam of the illumination unit is thus cut out of the middle.
  • particularly homogeneous properties are more likely to be expected there than in peripheral areas.
  • the aperture arrangement preferably passes only 50%, 20%, 10% or 5% of the transmitted light beam.
  • a particularly homogeneous region is selected, in particular a narrow part of the approximate central plateau of a Gaussian emission characteristic, and accepted for the fact that most of the optical output power in the diaphragm arrangement is lost.
  • the invention has recognized, however, that it can be better, too Only a few percent of the light output to get along, if there are no parasitic effects, but the image sensor is illuminated very evenly.
  • An arrangement of individual light sources, in particular a VCSEL array provides enough light, so that the small amount used is sufficient.
  • the diaphragm arrangement preferably has a plurality of diaphragms arranged one behind the other.
  • the lighting unit is preferably operated below its maximum power.
  • the energization can also be limited significantly below the maximum power, for example, at most 50% or at most 25% of the maximum power.
  • the initial Gaussian radiation characteristic forms a double Gauss curve as the maximum power is approached. So there is an intensity minimum in the middle range.
  • the aperture arrangement passes only the center area, the higher optical output power does not affect the detection, because the resulting minimum and the rising level of the optical output power cancel each other at least partially.
  • the invention has thus recognized that an output power close to the maximum power would only increase the intercepted light in the aperture, but not the useful light.
  • the operation of the lighting unit far below the maximum power has a positive effect on consumption, efficiency, waste heat and life anyway.
  • the lighting unit preferably has a mixer. This is, for example, a hexagonal mixer. A thorough mixing of the individual light beams of the individual light sources ensures additional homogenization and destruction of coherences.
  • Lighting unit and image sensor are preferably spaced several meters apart. This corresponds to a typical road or rail width or a multiple thereof, in order to monitor several lanes or tracks at the same time. The greater the distance, the more important the advantages of the illumination unit according to the invention are, in order to still allow a sufficient, high-quality illumination of the image sensor.
  • the object to be detected is preferably an antenna or another narrow object with dimensions of a few millimeters in at least one direction.
  • a powerful sensor can detect even large objects.
  • the peculiarity of the invention is the possibility of reliable detection of objects that are very small in at least one dimension.
  • An antenna has a typical diameter of 1-2 mm and is nevertheless reliably detected.
  • the object to be detected preferably moves with at least some 10 km / h.
  • the invention thus enables detection on moving vehicles on a track or trains on a track that reach speeds of 120 km / h and more.
  • the sensor is preferably mounted for over-height control of a vehicle stationary on a track or a roadway.
  • the lighting unit is mounted on one side and the image sensor on the other side of the road or the track.
  • the surveillance area can also cover several lanes or tracks.
  • the image sensor is preferably designed as a high-speed camera with a recording frequency of several thousand images per second. This ensures that even a fast-moving object is captured in at least one image, better several images of a sequence of images.
  • the sensor is preferably designed as a double system with two illumination units, two image sensors and a double evaluation of the shadow cast on both image sensors.
  • the two systems are aligned parallel or crosswise. This can significantly increase reliability because both subsystems should detect an object with plausible distances, while a jamming object is typically detected only at one or the wrong time interval.
  • a crossover system is particularly reliable because it can compensate for asymmetric effects such as an interfering light source.
  • FIG. 1 shows a schematic sectional view of an optoelectronic sensor 10, which is mounted on a track 14 for over-height detection of a train 12.
  • the actual function is not the technically relatively unpretentious detection of the train 12, but a small or at least narrow object such as the antenna 16, which is moved with the train 12.
  • the representation is not practical in that the train 12 itself usually does not use an upwardly projecting antenna 16.
  • the antenna 16 is thus representative and more symbolic of a moving object, such as an antenna of a vehicle loaded on the train 12.
  • a moving object such as an antenna of a vehicle loaded on the train 12.
  • a corresponding monitoring of vehicles on a road is also conceivable, or a comparable detection task, for example in an automated warehouse or a production facility.
  • the sensor 10 has on one side of the track 14 a lighting unit 18 with a diaphragm arrangement 20 and opposite on the other side of the track a high-speed camera 22 with an image sensor 24 and an evaluation unit 26.
  • the internal evaluation unit 26 can be replaced or supplemented by an external computer.
  • the illumination unit 18 illuminates the image sensor 24 with its transmitted light beam.
  • the acquisition frequency must be high enough to at realistic speeds of the train 12 of 120 km / h and more at least one, preferably multiple images with the shadow of the antenna 16 to capture. This requires several thousand images per second, for example 24,000 images per second.
  • the evaluation unit 26 evaluates the images on shadows of the antenna 16 out.
  • a reference image may be previously recorded with free monitoring image 28 and taken into account, for example, by subtraction.
  • An image of typical objects to be detected, ie in particular with the shadow of an antenna 16, can also be stored in the evaluation unit in support of the object recognition. If an impermissible height is detected, for example by detecting the antenna 16, then a corresponding signal is output, which then leads, for example, to stopping the train 12.
  • the high speed of the trains 12, which is met by appropriate frequency recording, is not the only difficulty of detection.
  • the illumination unit 18 must be sufficiently bright to illuminate the image sensor 24 with sufficient intensity and cast a reliably evaluable shadow of the antenna 16. This is conventionally done by a high power laser focused on the receiving area of the high speed camera 22. Due to the monochromatic and coherent nature of the laser diode, however, diffraction effects occur at the source and at the object to be detected. This leads to patterns in the recorded images, which prevent a reliable evaluation of the shadow of objects to be detected. In addition, the laser diode must be precisely aligned with the high-speed camera 22, because their radiation pattern drops rapidly towards the sides and therefore not enough light arrives even with comparatively low misalignment or vibration.
  • FIG. 2 shows a sectional view of an embodiment of the illumination unit 18 according to the invention, which solves these problems.
  • a plurality of individual light sources 18a is used.
  • a VCSEL array which unlike schematically can also have many hundreds or thousands of individual emitters.
  • the arrangement of the individual light sources 18a unlike a conventionally used monochromatic edge emitter at least a certain spectral width of a few nm.
  • the coherence in the transmitted light beam 30 is destroyed by superposition and mixing of the individual light sources 18a, which of course does not preclude a certain residual coherence.
  • This effect can be supported and enhanced by an upstream mixer, such as a hexagonal mixer.
  • the mode-related phase noise is reduced. Overall, less and preferably as good as no diffraction effects occur more.
  • FIG. 2 shows an exemplary arrangement of four apertures 20a-d. The number, the different apertures and the distances of the panels 20a-d may vary depending on the specific application.
  • the effect of the diaphragm arrangement 20 is that only a partial beam of the originally emitted transmitted light beam 30a is actually used as the transmitted light beam 30 for the illumination of the monitoring area 28. This is preferably a middle partial beam.
  • the Abtstrahl characterizing the plurality of light sources 18a originally does not provide as desired for a homogeneous light distribution. With the diaphragm assembly 20, a small portion of the emitted light is cut out, which corresponds to very high homogeneity requirements. In particular, the central area of, for example, the Gaussian radiation characteristic comes into consideration, which can almost be regarded as a plateau.
  • the diaphragm arrangement 20 can be very selective and allow only a small fraction of the emitted light to pass through as useful light of the transmitted light beam 30, which offers a particularly high beam quality for this purpose. In a concrete setup, 97% of the light was hidden.
  • the useful light component can generally be at most 50%, 20%, 10%, 5% or even less.
  • the optional diaphragm arrangement 20 can additionally ensure that a low-scatter partial beam with a virtually constant intensity distribution is used, which is robust against at least some misalignment and vibrations, for example due to passing trains. Overall, a significantly improved Image that allows reliable detection of a shadow cast by an antenna 16 or other object to be detected.
  • a VCSEL array for the individual light sources 18a results in a further advantage because, according to the invention, it can be operated significantly below its maximum power. This is not possible with the conventional high-power laser, because if it were operated at reduced power even more disturbing spot inhomogeneities through phase coherence and mode characteristics would occur. With regard to consumption, waste heat and life, however, an operating point is favorable, for example, at only 50% of the maximum power. Typical maximum currents for a VCSEL array are 4.5 - 8A, so that an operating point at 2 - 4A can be selected accordingly.
  • the VCSEL array When choosing the operating point, another train of thought plays a role. Above a certain current supply, for example in the region of 2A, the VCSEL array changes its emission characteristic, which is then no longer Gaussian, but forms a double Gauss curve with a central minimum, which becomes more and more pronounced with further increasing current supply. Since the aperture arrangement 20 preferably selects precisely this subarea of the resulting minimum of the emission characteristic, the higher power of the VCSEL array above the described operating point causes only little or even counterproductive because the additional light output in the aperture arrangement 20 is lost.
  • Figure 3a-b shows an exemplary shadow of an antenna of about 1.5 mm diameter in the image of the high-speed camera 22. It is FIG. 3a an XY curve of intensity in gray scale and FIG. 3b a section showing the intensity curve in the X direction. In FIG. 3a There are no disturbing diffraction patterns or inhomogeneous light patterns. The shadow of the antenna 16 is therefore very clear to identify. The same applies to the pronounced and only minimum in the sectional view FIG. 3b ,

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (13)

  1. Capteur optoélectronique (10) pour détecter un objet (16) en mouvement dans une zone à surveiller (28), dans lequel le capteur (10) comprend une unité d'éclairage (18) et un capteur d'image (24) agencés en regard l'un de l'autre et définissant entre eux la zone à surveiller (28), ainsi qu'une unité d'évaluation (26) qui est réalisée pour reconnaître l'objet (16) à partir de données d'image du capteur d'image (24) en se basant sur une projection d'ombre de l'objet (16) sur le capteur d'image (24),
    caractérisé en ce que
    l'unité d'éclairage (18) comprend une multitude de sources de lumière individuelles (18a) pour produire un rayon lumineux d'émission (30a) dans lequel des cohérences sont détruites par superposition des sources de lumière individuelles (18a), ainsi qu'un agencement de diaphragme (20) qui ne laisse passer qu'une zone partielle homogène (30) du rayon lumineux d'émission (30a).
  2. Capteur (10) selon la revendication 1,
    dans lequel l'unité d'éclairage (18, 18a) comprend un réseau VCSEL.
  3. Capteur (10) selon la revendication 1 ou 2,
    dans lequel la zone partielle (30) est une zone centrale.
  4. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'agencement de diaphragme (20) ne laisse passer que 50 %, 20 %, 10 % ou 5 % du rayon lumineux d'émission (30a).
  5. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'agencement de diaphragme (20) comprend plusieurs diaphragmes (20a - d) agencés les uns derrière les autres.
  6. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'unité d'éclairage (18, 18a) fonctionne au-dessous de sa puissance maximale, en particulier au maximum à 50 % ou au maximum à 25 % de la puissance maximale.
  7. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'unité d'éclairage (18) comprend un mélangeur.
  8. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'unité d'éclairage (18) et capteur d'image (24) sont espacés de plusieurs mètres l'un de l'autre.
  9. Capteur (10) selon l'une des revendications précédentes,
    dans lequel l'objet en mouvement est une antenne (16) ou un autre objet étroit ayant des dimensions de quelques millimètres dans au moins une direction.
  10. Capteur (10) selon l'une des revendications précédentes,
    qui est monté de façon stationnaire sur une voie ferroviaire (14) ou sur une voie de circulation pour contrôle d'une hauteur excessive d'un véhicule (12).
  11. Capteur (10) selon l'une des revendications précédentes,
    dans lequel capteur d'image (24) est réalisé sous forme de caméra haute vitesse (22, 24) ayant une fréquence d'enregistrement de plusieurs milliers d'images par seconde.
  12. Capteur (10) selon l'une des revendications précédentes,
    qui est réalisé sous forme de système double avec deux unités d'éclairage (18), avec deux capteurs d'image (24) et avec une évaluation double (26) de la projection d'ombre sur les deux capteurs d'image (24).
  13. Procédé pour détecter une antenne (16) en mouvement avec un véhicule (12) ou un autre objet étroit, en particulier pour le contrôle d'une hauteur excessive sur un train (12), dans lequel, au moyen d'une unité d'éclairage (18), on dirige un rayon lumineux d'émission (30) vers un capteur d'image (24), opposé à l'unité d'éclairage (18), en passant par une voie de circulation (14) du véhicule (12), et on évalue des données d'image du capteur d'image (24) pour reconnaître une projection d'ombre de l'antenne (16) ou de l'objet étroit,
    caractérisé en ce que
    à l'aide d'une multitude de sources de lumière individuelles (18a), l'unité d'éclairage (18) émet un rayon lumineux d'émission (30a) dans lequel des rayons lumineux individuels des sources de lumière individuelles (18a) se superposent et détruisent ainsi des cohérences, et en ce que dans le rayon lumineux d'émission (30a), on coupe une zone partielle homogène (30) du rayon lumineux d'émission (30a) à l'aide d'un agencement de diaphragme (20), et uniquement la zone partielle (30) illumine le capteur d'image (24).
EP16161741.0A 2016-03-22 2016-03-22 Detection d'un objet mobile a partir de son ombre Active EP3222487B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16161741.0A EP3222487B1 (fr) 2016-03-22 2016-03-22 Detection d'un objet mobile a partir de son ombre

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Application Number Priority Date Filing Date Title
EP16161741.0A EP3222487B1 (fr) 2016-03-22 2016-03-22 Detection d'un objet mobile a partir de son ombre

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EP3222487A1 EP3222487A1 (fr) 2017-09-27
EP3222487B1 true EP3222487B1 (fr) 2018-02-14

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Publication number Priority date Publication date Assignee Title
CN109145713B (zh) * 2018-07-02 2021-09-28 南京师范大学 一种结合目标检测的小目标语义分割方法

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Publication number Priority date Publication date Assignee Title
DE10044157C1 (de) * 2000-09-06 2002-01-24 Franz Rottner Vorrichtung zum Messen von Profilen
EP2051101B1 (fr) * 2007-10-16 2011-12-21 Sick Ag Agencement de capteur optique et procédé destinés à la détection optique d'objets
DE202008017962U1 (de) * 2008-09-23 2011-02-10 Sick Ag Beleuchtungseinheit zur Erzeugung eines selbstunähnlichen Musters
DE202013101578U1 (de) * 2013-04-12 2014-07-14 Sick Ag Optoelektronischer Sensor zur Erfassung von in einer Bewegungsrichtung beförderten Objekten

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