System and alignment procedure with one system

Abstract

System (1) comprising at least one sensor housing (2), at least one secondary sensor (3) for detecting the actual position and orientation of the sensor housing (2) in space and a display unit (19), wherein the secondary sensor (3) is configured to generate position data and orientation data, wherein in the secondary sensor (3) Transmission means (8) are arranged to transmit the actual position data and actual orientation data to the display unit (19) and The display unit (19) is configured to display the actual position (4) and the actual orientation (5) of the sensor housing (2) using the actual position and actual orientation data of the secondary sensor (3) in a spatial model (9), characterized in that the display unit (19) is configured to display a target position (6) and a target orientation (7) of the sensor housing (2) in the spatial model (9), wherein a control and evaluation unit (20) is connected to the display unit (19), which is configured to compare the actual position (4) and the actual orientation (5) with the target position (6) and the target orientation (7) and to display any deviation therefrom in the spatial model (9), and the control and evaluation unit (20) is configured to output alignment information on the display unit in order to detect any deviation of the actual position (4) and actual orientation (5) from the target position (6) and To minimize target orientation (7),wherein the sensor housing (2) is a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing (11), a light receiver housing (12), a deflecting mirror housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing.

Description

[0001] The present invention relates to a system according to the preamble of claim 1 and to an alignment method with a system according to the preamble of claim 7.

[0002] In light barriers or light grids based on the one-way principle, the light transmitter(s) are installed in a first housing and the light receiver(s) in a second housing. In order for the light transmitters on one side of an access area to be monitored to communicate with the light receivers on the other side of the access area, the two housings must be aligned with one another, i.e. they must be moved linearly, rotated or tilted if necessary. For this reason, it is common practice to use so-called alignment aids to align these housings. This means that, particularly when the distances between the light transmitter and the light receiver are large, the housings can be aligned using a permanently installed or externally adaptable telescopic sight. The disadvantage is that the associated costs and the space required are very high. The time required for alignment is also quite long.

[0003] It is also known to perform the adjustment using the sensor's own light barrier / light grid signal. With this method, the alignment of the light transmitter and light receiver is changed until the received signal reaches a maximum value. For this purpose, it is known, for example, to change the flashing frequency of an indicator diode or to emit an acoustic signal depending on the magnitude of the received signal.

[0004] Another device for aligning the two housings is known from EP 0 889 332 B1. This document describes a method and a device in which an alignment light transmitter for emitting a directional beam is present in each housing. The point of incidence of the directional beam is determined relative to a predetermined reference point, and if necessary, the mutual alignment of the housings is coordinated.

[0005] This type of alignment has the disadvantage that, when geometrically aligning the two housings, it is necessary to always be able to see the opposite housing in order to perform the alignment. This can cause problems, especially at large distances and in high ambient brightness. This type of alignment aid is particularly difficult when the light beams of the light barrier / light grid are guided through an angled access area using deflecting mirrors. Furthermore, this alignment aid is costly overall due to the fact that several precisely adjusted deflecting mirrors are required. Furthermore, the alignment process is time-consuming.

[0006] DE 102 29 336 A1 relates to a method and a device for calibrating at least one image sensor system, preferably located in a motor vehicle. The image sensor system records a calibration object, the recorded calibration object and a value representing the position and / or orientation of the calibration object and the image sensor system relative to each other are used for calibration, and a position reference sensor determines this value. Suitable position reference sensors include radar sensors, ultrasonic sensors, laser rangefinders, or stereo cameras.

[0007] DE 102 13 843 A1 relates to an optoelectronic sensor for optically detecting an object within a surveillance area. The sensor is coupled to a position-measuring device for generating at least one position detection signal, as well as to an evaluation and control device for calculating a current spatial position, orientation, and / or angular position of the sensor based on the position detection signal.

[0008] DE 102012 111 345 A1 discloses a mobile handheld device for aligning a sensor with a display for showing an overlay image representing the current alignment, which overlay image is based on a field of view image of a monitoring area of ​​the sensor and a target display of a position of a light spot generated by the sensor, wherein the handheld device has an interface for receiving the field of view image from the sensor external to the handheld device, wherein the handheld device has its own image sensor for recording an additional field of view image of the monitoring area and a fusion unit for generating the overlay image based on the field of view image, the additional field of view image and information received from the sensor about the position of the light spot in the field of view image.

[0009] The video surveillance systems disclosed in DE 10 2006 033 147 A1 are typically used to monitor streets, intersections, squares, as well as public buildings, museums, and prisons. Video surveillance systems that output the results for the image areas / objects in the scene in metric units, such as lengths in meters and speed in meters per second, or the absolute and / or relative positioning in a camera network, require knowledge of camera parameters such as the position, orientation, and aperture angle of the camera(s). These parameters are usually laboriously measured manually during the installation process; for example, special patterns (example patterns) are used, or people walk back and forth in front of the video camera.A surveillance camera is proposed, wherein the surveillance camera is positioned and / or positionable for monitoring at a stationary monitoring position, with a calibration auxiliary device, wherein the calibration auxiliary device is designed to determine the stationary monitoring position of the surveillance camera.

[0010] DE 10 2015 211 801 A1 discloses a positioning system with at least one handheld positioning sensor designed to acquire positioning data for objects to be located hidden beneath an examination surface, with a position sensor designed to acquire position data associated with the positioning data, and with an evaluation unit designed to determine and provide at least two-dimensional map information from the positioning data and the position data. It is proposed that the positioning system comprise at least one data source designed to provide data for modifying the at least two-dimensional map information.

[0011] DE 10 2007 023 101 A1 relates to an optoelectronic sensor arrangement with a plurality of light transmitters arranged next to one another in a light transmitter strip, each of which emits light in a transmission cone into a monitored area, and with a plurality of light receivers arranged next to one another in a light receiver strip, which receive light from a reception cone from the monitored area and which each have a spatially resolving element, wherein in each case a light transmitter and a light receiver form a light transmitter / light receiver pair, wherein a control unit is provided in which means are provided for determining the point of incidence of the light of the transmission cone of one of the light transmitters and / or of an external light source on one of the light receivers.

[0012] DE 10 2007 005 085 A1 discloses a method and a device comprising a camera, an evaluation device, and a display unit for aligning a vehicle surroundings sensor or headlight on a vehicle. The position and orientation of a camera relative to a measuring station and a vehicle's driving axis can be determined using the camera during approach. An auxiliary adjustment device can be placed in front of the vehicle surroundings sensor or headlight of the vehicle and aligned with respect to the driving axis and the road surface using the camera and three measuring points on the auxiliary adjustment device. The auxiliary adjustment device can also be aligned with respect to the driving axis and the road surface.

[0013] US 2014 / 0346326 A1 relates to a reflector used in a reflex mode detection device, wherein the reflector is intended to be positioned in alignment with a detector and comprises a reflective region for reflecting a light beam back toward the detector to be transmitted. The reflector is arranged to perform a signaling function using a signaling interface, wherein the signaling interface is arranged to indicate an alignment state of the reflective region of the reflector.

[0014] The alignment aid for an optical sensor system disclosed in DE 20 2005 006 593 U1 comprises at least two spatially separated system components that are to be aligned relative to each other, or at least one system component that is to be aligned relative to a reference component. A measuring device is used to measure the alignment state. A three-stage acoustic signal is generated depending on the alignment state and indicates the degree of deviation of the actual alignment state from an optimal alignment state.

[0015] EP 3 037 778 A1 discloses a method for checking object properties of an object in a subsurface by means of a device which has a detector device, a localisation device and a control device, wherein in a first step a first object with first object properties to be checked and first target coordinates is selected, in a second step a current position of the detector device is determined by means of the localisation device, in a third step a current detection field is determined by the control device from the current position of the detector device and in a fourth step the first target coordinates are compared by the control device with the current detection field of the detector device.

[0016] DE 102 05 002 A1 discloses a method for graphically displaying a cross-sectional image of an object under examination with objects located therein, in particular for displaying a cross-sectional image of a building wall. It is proposed that the cross-sectional image with the objects located in the object under examination be displayed during data acquisition by the location sensor.

[0017] An object of the invention is to provide an improved system or an improved alignment method with a system.

[0018] The object is achieved according to claim 1 by a system and according to claim 7 by an alignment method with a system.

[0019] According to the invention, a user is able to evaluate the actual position and the actual orientation in the spatial model and to take appropriate measures if the actual position and the actual orientation deviate from target values, i.e. a target position and a target orientation.

[0020] Furthermore, the actual position and orientation can be viewed in the room model on the display unit. The user does not need to inspect the sensor housing directly on site. For example, the position and orientation of the sensor housing can be checked remotely via remote maintenance. Furthermore, it is possible to display the position and orientation of multiple sensor housings simultaneously or sequentially on the display unit. This allows the sensor housings of an entire system to be checked centrally.

[0021] The actual position can be specified in three independent spatial axes, which are referred to here as the X-axis, the Y-axis and the Z-axis and are each at an angle of 90° to each other.

[0022] The actual orientation can be specified in three independent angles: a roll angle assigned to the X-axis, a pitch angle assigned to the Y-axis, and a yaw angle assigned to the Z-axis. These angles are also at a 90° angle to each other and are referred to here as the X-angle, Y-angle, and Z-angle. The respective angles can be assigned to the respective axes, whereby the X-angle is aligned along the X-axis, the Y-angle is aligned along the Y-axis, and the Z-angle is aligned along the Z-axis.

[0023] The orientation can be determined and displayed in Cartesian coordinates or in polar coordinates.

[0024] According to the invention, the display unit is designed to display a desired position and desired orientation of the sensor housing in the spatial model.

[0025] By displaying the target position and target orientation, the user can detect any deviation from the displayed actual position and actual orientation and take appropriate countermeasures, namely to better align the sensor housing.

[0026] According to the invention, a control and evaluation unit is connected to the display unit, which is designed to compare the target position and actual orientation with the actual position and target orientation and to display a deviation therefrom in the spatial model.

[0027] This provides the user with clear instructions on how to change the actual position or orientation of the sensor housing, or how to align or adjust the sensor housing to achieve optimal alignment of the sensor housing.

[0028] The alignment and adjustment of the sensor housing is optionally monitored and checked continuously or cyclically by the system, so that, for example, after a first alignment process or a first adjustment, a corrected actual position and actual orientation is recorded again and displayed again or cyclically in the room model.

[0029] According to the invention, the control and evaluation unit is designed to output alignment information in order to minimize a deviation from the actual position and actual orientation to the desired position and desired orientation.

[0030] The alignment information can, for example, consist of text instructions describing an adjustment. Simple text instructions might read: "Move the sensor housing in the X, Y, or Z axis by n units in a positive or negative direction" or "Rotate the sensor housing in the X, Y, or Z axis by n degrees in a positive or negative direction."

[0031] The alignment information can also be output via voice output and / or graphic symbols.

[0032] The text instructions or graphic symbols can be directly assigned to the sensor housing in the display unit. For example, arrow symbols on the displayed sensor housing can prompt for adjustment in a specific direction and / or at a specific angle.

[0033] In a further development of the invention, the display unit is a component of a human-machine interface, a personal computer, a mobile personal computer, a tablet, a smartphone or a mobile computer.

[0034] For example, the human-machine interface is part of a system in which the sensor housing is installed. The display unit is intended to manage, program, and monitor the system.

[0035] A personal computer may have a monitor, which forms the display unit. In a mobile personal computer, also called a notebook or laptop, the display of the mobile personal computer forms the display unit.

[0036] The monitor or display of a tablet, a smartphone or another mobile computer can also form the display unit.

[0037] A mobile computer or mobile display unit has the advantage that the display can be located directly on-site at the sensor housing. This allows adjustment or alignment to be performed directly on the sensor housing based on the alignment information displayed on the display unit.

[0038] According to the invention, the sensor housing is a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing, a light receiver housing, a deflecting mirror housing, a multi-beam light barrier housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing.

[0039] Light grid housings often comprise a light transmitter housing and a light receiver housing, which must be aligned with each other. The light transmitter housing contains a plurality of light transmitters, and the light receiver housing contains a plurality of receivers. The light transmitters and receivers are paired to form the light grid or light curtain. The light transmitters and receivers operate according to the principle of a light barrier.

[0040] However, light grid housings can also have sensor housings with light transmitters and light receivers, whereby an opposite sensor housing also has corresponding light transmitters and light receivers, which are assigned in pairs to form a light grid or a light curtain.

[0041] The light grid housing can also incorporate light sensors or distance sensors to form a light grid or light curtain. The distance sensors operate, for example, according to the time-of-flight principle or the triangulation principle.

[0042] Multi-beam light barrier housings often comprise a multi-beam light barrier transmitter housing and a multi-beam light barrier receiver housing, which must be aligned with each other. The multi-beam light barrier transmitter housing contains a plurality of light transmitters, and the multi-beam light barrier receiver housing contains a plurality of receivers. The light transmitters and receivers are arranged in pairs to form the multi-beam light barrier. The light transmitters and receivers operate according to the principle of a light barrier.

[0043] In a further development of the invention, the sensor housing has at least one position sensor and at least one orientation sensor as secondary sensors.

[0044] This allows the actual position and orientation to be recorded directly in the sensor housing. The position sensor can be a differential GPS sensor or sensor system. Combined or integrated six-axis sensors can also be used, providing an actual position and orientation in six coordinates. The position is recorded based on a global positioning system, and the orientation is recorded based on, for example, the Earth's magnetic field or an artificial directed magnetic, electric, or electromagnetic field.

[0045] Alternatively, the gravitational field can be used for orientation. A combination of the aforementioned positioning and orientation methods is also planned.

[0046] The actual position data and actual orientation data are then transmitted to the display unit and displayed there.

[0047] In a further development of the invention, the system has at least two cameras as secondary sensors for determining the position of the sensor housing.

[0048] The two cameras are spaced apart, and the sensor housing is located within the field of view of both cameras. Using triangulation or photogrammetric methods, the actual position and orientation of the sensor housing can be determined based on the captured camera images.

[0049] The actual position data and actual orientation data are then transmitted from the cameras or from a control and evaluation unit to the display unit and displayed there.

[0050] In a further development of the invention, the system has at least one distance-measuring camera as secondary sensors for determining the position of the sensor housing.

[0051] The distance-measuring camera can, for example, be a time-of-flight camera. By detecting the contour and distance of the sensor housing from the distance-measuring camera, the actual position and orientation of the sensor housing can be determined based on the acquired contour data and distance data.

[0052] The actual position data and actual orientation data are then transmitted from the camera by a control and evaluation unit to the display unit and displayed there.

[0053] In a further development of the invention, the sensor housing has at least one marking, wherein the secondary sensors are designed to detect the marking.

[0054] The marking allows the sensor housing to be identified and distinguished from other items, objects or, for example, other sensor housings.

[0055] For example, the marking can contain identification data of the sensor housing, such as type data and manufacturer information. This allows the secondary sensors, cameras, or camera system to know the mechanical dimensions and contours, making the sensor housing easier to identify.

[0056] The marking can be an optical code, such as a barcode, a QR code, a matrix code or similar.

[0057] The invention is explained below with regard to further advantages and features with reference to the accompanying drawings using exemplary embodiments.

[0058] The figures in the drawing show: Fig. 1 two aligned sensor housings; Fig. 2 two non-aligned sensor housings; Fig. 3 shows the axes XA, YA and ZA respectively the roll, pitch and yaw angles XW, YW and ZW; Fig. 4 to 8 each represent a system with two sensor housings and a display unit.

[0059] In the following schematic figures, identical parts are provided with identical reference numerals.

[0060] Fig. 1 shows two sensor housings 2, for example two sensor housings 2 of a light grid, which are precisely or correctly aligned with each other so that the light beams of the light transmitters of the light transmitter housing 11 strike the light receivers of the light receiver housing 12.

[0061] According to Fig. 1, the sensor housing 2 can be, for example, a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing 11, a light receiver housing 12, a deflecting mirror housing, a multi-beam light barrier housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing or a housing of another sensor.

[0062] Light grid housings often comprise a light transmitter housing 11 and a light receiver housing 12, which must be aligned with each other. A plurality of light transmitters are provided in the light transmitter housing 11, and a plurality of receivers are provided in the light receiver housing 12. The light transmitters and light receivers are arranged in pairs to form the light grid or light curtain. The light transmitters and light receivers operate according to the principle of a light barrier.

[0063] However, light grid housings can also have sensor housings with light transmitters and light receivers, whereby an opposite sensor housing also has corresponding light transmitters and light receivers, which are assigned in pairs to form a light grid or a light curtain.

[0064] The light grid housing can also incorporate light sensors or distance sensors to form a light grid or light curtain. The distance sensors operate, for example, according to the time-of-flight principle or the triangulation principle.

[0065] Multi-beam light barrier housings often comprise a multi-beam light barrier transmitter housing and a multi-beam light barrier receiver housing, which must be aligned with each other. The multi-beam light barrier transmitter housing contains a plurality of light transmitters, and the multi-beam light barrier receiver housing contains a plurality of receivers. The light transmitters and receivers are arranged in pairs to form the multi-beam light barrier. The light transmitters and receivers operate according to the principle of a light barrier.

[0066] Fig. 2 shows the two sensor housings 2 from Fig. 1, which are not aligned or incorrectly aligned to each other, so that the light beams of the light transmitters of the light transmitter housing 11 do not or only partially hit the light receivers of the light receiver housing 12.

[0067] Fig. 3 shows the axes XA, YA and ZA or the roll angles, pitch angles or yaw angles XW, YW and ZW, in which the position and orientation can be specified.

[0068] The actual position can be specified in three independent spatial axes, which are referred to here as the X-axis XA, the Y-axis YA and the Z-axis ZA and are each at an angle of 90° to each other.

[0069] The actual orientation can be specified in three independent angles: the roll angle, the pitch angle, and the yaw angle. These angles can also be at an angle of 90° to each other and are referred to here as the X angle XW, the Y angle YW, and the Z angle ZW. The respective angles can be assigned to the respective axes, whereby the X angle XW is aligned along the X axis XA, the Y angle YW is aligned along the Y axis YA, and the Z angle ZW is aligned along the Z axis ZA.

[0070] The orientation can be determined and displayed in Cartesian coordinates or in polar coordinates.

[0071] Fig. 4 shows a system with at least one sensor housing 2, at least one secondary sensor 3 for detecting the actual position 4 and the actual orientation 5 of the sensor housing 2 in space and a display unit 19, wherein the secondary sensor 3 is designed to generate position data and orientation data, wherein transmission means 8 are arranged in the secondary sensor 2 in order to transmit the actual position data and actual orientation data to the display unit 19 and the display unit 19 is designed to display the actual position 4 and the actual orientation 5 of the sensor housing 2 in a space model 9 by means of the actual position data and the actual orientation data of the secondary sensor 2.

[0072] According to Fig. 4, a user is able to evaluate the actual position 4 and the actual orientation 5 in the spatial model 9 and to take appropriate measures if the actual position 4 and the actual orientation 5 deviate from target values, for example from a target position and a target orientation.

[0073] Furthermore, the actual position 4 and the actual orientation 5 in the room model 9 can be viewed on the display unit 19. The user does not need to inspect the sensor housing 2 directly on site. Furthermore, it is possible to display the position and orientation of multiple sensor housings 2 simultaneously or sequentially on the display unit 19. This allows the sensor housings 2 of an entire system to be checked centrally.

[0074] According to Fig. 5, the display unit 19 is designed to display a target position 6 and target orientation 7 of the sensor housing 2 in the spatial model 9.

[0075] By displaying the target position 6 and the target orientation 7, the user can detect a deviation from the displayed actual position 4 and actual orientation 5 and take suitable countermeasures, namely to better align the sensor housing 2.

[0076] According to Fig. 5, a control and evaluation unit 20 is connected to the display unit 19, which is designed to compare the actual position 4 and actual orientation 5 with the target position 6 and target orientation 7 and to display a deviation therefrom in the spatial model 9.

[0077] This provides the user with clear instructions on how to change the actual position 4 or the actual orientation 5 of the sensor housing 2, or how to align or adjust the sensor housing 2 in order to achieve optimal alignment of the sensor housing 2.

[0078] The alignment and adjustment of the sensor housing 2 is optionally monitored and checked continuously or cyclically by the system 1, so that, for example, after a first alignment process or a first adjustment, a corrected actual position 4 and actual orientation 5 are again recorded and displayed again or cyclically in the room model 9.

[0079] According to Fig. 5, the control and evaluation unit 20 is designed to output alignment information in order to minimize a deviation from the actual position 4 and actual orientation 5 to the target position 6 and target orientation 7.

[0080] The alignment information can, for example, consist of text instructions describing an adjustment. Simple text instructions could be: 'Move sensor housing 2 along the X-axis XA, Y-axis YA, or Z-axis ZA by n units in the positive or negative direction' or 'Rotate sensor housing at the X-angle XW, at the Y-angle YW, and at the Z-angle ZW by n degrees in the positive or negative direction'.

[0081] The alignment information can also be output via voice output and / or graphic symbols.

[0082] The text instructions or graphic symbols can be directly assigned to the sensor housing 2 in the display unit 19. For example, arrow symbols on the displayed sensor housing 2 can prompt for an adjustment in a specific direction and / or at a specific angle.

[0083] According to Fig. 5, the display unit 19 is part of a human-machine interface, a personal computer 10, a mobile personal computer, a tablet, a smartphone or a mobile computer.

[0084] The human-machine interface is, for example, part of a system in which the sensor housing 2 is installed. The display unit 19 is intended to manage, program, and monitor the system.

[0085] A personal computer 10 may have a monitor that forms the display unit 19. In a mobile personal computer, also called a notebook or laptop, the display of the mobile personal computer forms the display unit 19.

[0086] The monitor or display of a tablet, a smartphone or another mobile computer can also form the display unit 19.

[0087] A mobile computer or mobile display unit 19 has the advantage that the display can be available directly on-site at the sensor housing 2. This allows adjustment or alignment to be performed directly on the sensor housing 2 based on the alignment information displayed on the display unit 19.

[0088] According to Fig. 5, the sensor housing 2 has at least one position sensor 13 and at least one orientation sensor 14 as secondary sensors 3.

[0089] This allows the actual position 4 and the actual orientation 5 to be recorded directly in the sensor housing 2. The position sensor 13 can be a differential GPS sensor or sensor system. Combined or integrated six-axis sensors can also be used, providing an actual position 4 and an actual orientation 5 in six coordinates. The position is recorded, for example, based on a global positioning system, and the orientation is recorded, for example, based on the Earth's magnetic field.

[0090] The actual position data and actual orientation data are then transmitted to the display unit 19 and displayed there.

[0091] According to Fig. 6, the system has at least two cameras 15 and 16 as secondary sensors 3 for determining the position of the sensor housing 2.

[0092] The two cameras 15 and 16 are arranged at a distance from each other and the sensor housing 2 is located in the field of view of both cameras 15 and 16. By triangulation methods or by photogrammetric methods, the actual position 4 and the actual orientation 5 of the sensor housing 2 can be detected based on the captured camera images.

[0093] The actual position data and actual orientation data are then transmitted from the cameras 15 and 16 or from a control and evaluation unit 20 to the display unit 19 and displayed there.

[0094] According to Fig. 7, the system 1 has as secondary sensors 3 at least one distance-measuring camera 17 for determining the position of the sensor housing.

[0095] The distance-measuring camera 17 can, for example, be a time-of-flight camera. By detecting the contour and distance of the sensor housing 2 from the distance-measuring camera 17, the actual position 4 and the actual orientation 5 of the sensor housing 2 can be determined based on the detected contour data and distance data.

[0096] The actual position data and actual orientation data are then transmitted from the camera 17 by a control and evaluation unit 20 to the display unit 19 and displayed there.

[0097] According to Fig. 8, the sensor housing 2 has at least one marking 18, wherein the secondary sensors 3 are designed to detect the marking 18.

[0098] The marking 18 allows the sensor housing 2 to be identified and distinguished, for example, from other items, objects or, for example, other sensor housings 2.

[0099] For example, the marking 18 can contain identification data of the sensor housing 2, such as type data and manufacturer information. This allows the secondary sensors 3 or the camera 17 or the camera system to know the mechanical dimensions and contours, making the sensor housing 2 easier to identify.

[0100] The marking 18 can be an optical code, for example a bar code, a barcode, a QR code, a matrix code or similar. Reference symbol: 1 system 2 sensor housings 3 Secondary sensor 4 Actual position 5 Current orientation 6 Target position 7 Target orientation 8 Transmission means 9 Spatial model 10 personal computers 11 Light transmitter housing 12 light receiver housings 13 Position sensor 14 Orientation sensor 15 first camera 16 second camera 17 distance measuring camera 18 Marking 19 Display unit 20 Control and evaluation unit XA X-axis YA Y-axis ZA Z-axis XW X-angle YW Y-angle ZW Z-angle

Claims

[1] System (1) with at least one sensor housing (2), at least one secondary sensor (3) for detecting the actual position and actual orientation of the sensor housing (2) in space and a display unit (19), wherein the secondary sensor (3) is designed to generate position data and orientation data, where in the secondary sensor (3) Transmission means (8) are arranged to transmit the actual position data and actual orientation data to the display unit (19) and the display unit (19) is designed to display the actual position (4) and the actual orientation (5) of the sensor housing (2) in a spatial model (9) by means of the actual position data and actual orientation data of the secondary sensor (3), characterized bythat the display unit (19) is designed to display a desired position (6) and a desired orientation (7) of the sensor housing (2) in the spatial model (9), wherein a control and evaluation unit (20) is connected to the display unit (19), which control and evaluation unit is designed to compare the actual position (4) and the actual orientation (5) with the desired position (6) and the desired orientation (7) and to display a deviation therefrom in the spatial model (9), and the control and evaluation unit (20) is designed to output alignment information on the display unit in order to minimize a deviation from the actual position (4) and the actual orientation (5) to the desired position (6) and the desired orientation (7), wherein the sensor housing (2) comprises a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing (11), a light receiver housing (12), a deflecting mirror housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing. [2] System according to claim 1, characterized by that the display unit (19) is a component of a human-machine interface, a personal computer (10), a mobile personal computer, a tablet, a smartphone or a mobile computer. [3] System according to at least one of the preceding claims, characterized by that the sensor housing (2) has at least one position sensor (13) and at least one orientation sensor (14) as secondary sensors (3). [4] System according to at least one of the preceding claims, characterized by that the system (1) has at least two cameras (15, 16) as secondary sensors (3) for determining the position and orientation of the sensor housing (2). [5] System according to at least one of the preceding claims, characterized bythat the system (1) has as secondary sensors (3) at least one distance-measuring camera (17) for determining the position and orientation of the sensor housing (2). [6] System according to at least one of the preceding claims, characterized by that the sensor housing (2) has a marking (18), wherein the secondary sensors (3) are designed to detect the marking (18). [7] Alignment method with a system (1) with at least one sensor housing (2), at least one secondary sensor (3) for detecting an actual position (4) and an actual orientation (5) of the sensor housing (2) in space and a display unit (19), wherein the secondary sensor (3) generates position data and orientation data, wherein transmission means (8) are arranged in the secondary sensor (3) to transmit the actual position data and the actual orientation data to the display unit (19) and the display unit (19) displays the actual position (4) and the actual orientation (5) of the sensor housing (2) in a spatial model (9) by means of the actual position data and the actual orientation data of the secondary sensor (3), characterized bythat the display unit (19) displays a target position (6) and a target orientation (7) of the sensor housing (2) in the spatial model (9), wherein a control and evaluation unit (20) is connected to the display unit (19), which compares the actual position (4) and the actual orientation (5) with the target position (6) and the target orientation (7) and displays a deviation therefrom in the spatial model (9), and the control and evaluation unit (20) outputs alignment information on the display unit in order to minimize a deviation from the actual position (4) and the actual orientation (5) to the target position (6) and the target orientation (7), wherein the sensor housing (2) is a light grid housing, a light grid transmitter housing, a light grid receiver housing, a light transmitter housing (11), a light receiver housing (12), a deflecting mirror housing, a multi-beam light barrier transmitter housing or a multi-beam light barrier receiver housing is.

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