Information carrier for providing information to lidar sensors

Abstract

An information carrier (1, 1 ') for providing information to a LIDAR sensor (20, 101, 101', 101 '') is described. The information carrier comprises a chip-like code carrier (2) having a first reflectivity (R1), and at least one code pattern (8) on a portion of one side of the chip-like code carrier (2). The code pattern (8) comprises a first code region (9) in the form of a hole passing through the sheet-like code carrier (2) and a second code region (10) having a second reflectivity (R2), the code regions being arranged according to a predetermined regular pattern, and wherein the code regions are at a distance from one another, the code carrier being between the code regions. A method of configuring a monitoring system (100) by using an information carrier (1, 1 ') is also described.

Description

Technical Field

[0001] The invention relates to an information carrier for providing information to a LIDAR sensor. The invention also relates to a method for configuring a monitoring system using said information carrier, wherein the monitoring system comprises at least one LIDAR sensor. Background Art

[0002] In order to avoid harm to people, it is desirable to ensure that people do not approach the machine while it is in operation. Directive 2006 / 42 / EC - the "new machinery directive" defines the conditions that must be met for the safe operation of automatic machines. Known techniques for solving this problem consist in arranging physical barriers around automatic machines, such as, for example, cages that are commonly arranged around industrial robots. However, such physical barriers complicate the necessary service and repair. An alternative to physical barriers are digital barriers, such as photocell barriers, which are connected to a control device that shuts down the machine as soon as a person passes through the digital barrier. Many individual digital barriers may be required around large machines, such as conveyor belts.

[0003] An alternative to digital barriers as described above is to use a digital imaging device connected to a computer to monitor the entire area around the automated machine. By analyzing the digital image, several of the above parameters can be monitored. One of the problems with such monitoring is that it is difficult, time consuming and therefore expensive to define which parts of the digital image should be monitored.

[0004] In addition to the examples above, there are other examples regarding monitoring.

[0005] The use of optically detectable codes for configuring monitoring zones is described in US 2009 / 0015663, which describes a method and system for configuring a monitoring device for monitoring a spatial area.Setting marks detectable by a camera device are used to configure the monitoring zones.

[0006] LIDAR is a mature technology for detecting 3-dimensional objects. LIDAR can also be used to read information from a marking device. US10145993B1 describes a retroreflective marking device that encodes information that can be read by an optical sensor such as LIDAR. US2019220717A1 describes a retroreflective multi-scale code that can be read by an optical sensor such as LIDAR.

[0007] When using markers to define the portion of a digital image that should be monitored, it is important to minimize the probability of erroneous code reading. Single points of failure can lead to accidents.

[0008] When prior art marking devices and codes are placed in an environment where contamination may occur, the probability of correctly reading the code on the marking device may be reduced due to contamination of the code, as contamination may cause changes in reflectivity in some areas. Summary of the invention

[0009] The object of the invention is to provide an information carrier for providing information to a LIDAR sensor, with which a high information density is provided.

[0010] Another object of the invention is to provide an information carrier for providing information to a LIDAR sensor, with which the probability of malfunction of the LIDAR sensor when detecting a code is minimized.

[0011] Another object of the present invention is to provide a method for configuring a monitoring system, wherein the monitoring system comprises at least one LIDAR sensor, wherein the method provides increased safety when configuring the monitoring system.

[0012] The above objects are achieved by an information carrier and a method according to the independent claims.

[0013] The features of the dependent claims provide further advantages.

[0014] According to a first aspect, an information carrier for providing information to a LIDAR sensor is provided. The information carrier comprises a sheet-like code carrier having a first reflectivity, and at least one code pattern on a portion of one side of the sheet-like code carrier. The information carrier is characterized in that the code pattern comprises a first code area in the form of a hole passing through the sheet-like code carrier, and a second code area having a second reflectivity. The code areas are arranged according to a predetermined regular pattern, and wherein the code areas are at a distance from each other, wherein the code carrier is between the code areas.

[0015] Using a first code region in the form of a hole through the sheet-like code carrier means that such a code region is not easily damaged by dirt, because there is no surface for dirt to adhere to. This means that the first code region can be reliably detected regardless of the conditions in which the code carrier is arranged. In other words, the hole is an opening in the sheet-like code carrier, i.e. the hole forms a hole through the sheet-like code carrier.

[0016] Reflectivity is a measure of the ability of a surface to reflect radiation and is equal to the reflectivity of a layer of material that is thick enough so that the reflectivity does not depend on the thickness. Reflectivity is measured as a percentage of the incident radiation. Therefore, by definition, the first reflectivity is different from the second reflectivity. The reflectivity can be the same in many different code areas, as indicated in the definition of the first aspect above, where it is mentioned that the second code area has a second reflectivity. There may be a plurality of second code areas. On the information carrier according to the first aspect, the code carrier has a first reflectivity and the second code area has a second reflectivity, which by definition are not the same. The first reflectivity is different from the second reflectivity.

[0017] The definition that the code areas are arranged according to a predetermined regular pattern means that the code areas are positioned at regular mutual distances. Due to the regular pattern, the position of a certain code area can be determined based on other code areas of the pattern. For example, if the code pattern includes 3×3 code areas and one of the code areas is difficult to detect for some reason, the position of the code area can still be derived from the positions of the other code areas in the code pattern. Therefore, if only a first code area in the form of a hole passing through a sheet-like code carrier and a second code area with a second reflectivity are used, it can be assumed that the code area that is difficult to detect at one of the positions in the 3×3 code pattern is the second code area because dirt is difficult to damage the first code area. Therefore, arranging the code areas in a predetermined pattern improves the detectability of the code pattern.

[0018] The code pattern includes a third code area with a third reflectivity or a first reflectivity. Alternatively, the code pattern may include a third code area with a third reflectivity and a fourth code area with a first reflectivity. Adding an additional alternative for reflectivity improves the information density of the code pattern. Detectability may be slightly lower than the case of using only the first code area and the second code area. In the case where the code area has been contaminated so that the reflectivity has changed, it may be more difficult to determine the reflectivity of the code area with more code areas. The fact that the fourth code area has the first reflectivity means that they are indistinguishable from the code carrier that also has the first reflectivity in reflectivity. About the fourth code area with the first reflectivity, their detectability depends on the fact that the code pattern is regular. It is also preferred that any fourth code area with the first reflectivity is arranged in a way that makes the code pattern clear. Therefore, the fourth code area should not be at the edge of the code pattern, because this may make it difficult to identify the beginning of the code pattern.

[0019] At least one of the sheet-like code carrier and the second code region may have a surface of a retroreflective material. In the case where the information carrier comprises a third code region, the third code region may also have a surface of a retroreflective material.

[0020] The retroreflective material on the surface of each of the sheet code carrier and the second code area and the possible third code area may include retroreflective spheres or retroreflective microspheres, such as retroreflective glass beads. The third code area may alternatively include cube corner retroreflective material. The selection of retroreflective materials for different surfaces preferably maximizes detectability. Using cube corner retroreflective materials can achieve a higher reflectivity than using glass bead retroreflective materials.

[0021] As defined above, the code pattern is a regular code pattern. The line between the centers of two adjacent code areas defines the center-to-center distance. The ratio between the center-to-center distance between adjacent code areas and the distance between the code areas along the line defining the center-to-center distance is in the range of 1.25 to 5, and preferably in the range of 1.5 to 3. By making the defined ratio within the range, the detectability of the code pattern at a larger distance is improved. When the code pattern is detected using a LIDAR sensor, the LIDAR sensor illuminates the information carrier, and the light points from the LIDAR sensor are incident on the information carrier. The LIDAR sensor emits divergent light so that the distance between the light points on the information carrier increases as the distance between the LIDAR sensor and the information carrier increases. In order to be able to detect the code area, at least one point should be incident on each code area, and one point should be incident on the sheet-like code carrier in the area between the code areas. In order to maximize the detectable distance of the code pattern, the ratio should be approximately 2.

[0022] The code carrier may form at least a portion of a self-supporting structure such as, for example, a cone, a cuboid, a pyramid, a triangular prism or a cylinder. By means of this feature, information may be included in the shape of the self-supporting structure. A cylinder may be used for a first type of information, while a cone may be used for a second type of information. The code pattern may then contain more specific information about the first type or the second type of information. The position of the code pattern within the information carrier may also be used for identification. Thus, in the case of a square information carrier and a 2×2 code pattern being used together, the position of the code area may be used to determine the code. The possibility of the code carrier having different shapes increases security, since both the shape and the code pattern must be correct in order to decipher the code.

[0023] The self-supporting structure may be foldable. By having a foldable structure, the self-supporting structure may be more easily transported.

[0024] The information carrier may form a continuous tape. The use of a continuous tape is advantageous in cases where marking of complex borders is to be performed. A continuous tape is also advantageous in view of the portability of the information carrier, since the continuous tape can be rolled up into a roll.

[0025] The code area may have a rectangular shape, which is advantageous for detectability in case the sensor is of a type with different resolutions in different directions, such as horizontal and vertical directions. The rectangular shape is preferably adjusted to the resolution of the sensor in the corresponding direction.

[0026] The maximum size of the code area may be in the range of 10 mm to 5000 mm, preferably in the range of 30 mm to 1500 mm. These are practical limits for the code area in an information carrier according to an embodiment.

[0027] According to a second aspect, a method for configuring a monitoring system is provided. The monitoring system comprises: at least one LIDAR sensor configured to record an image of a monitoring area, and a computer communicating with the at least one LIDAR sensor, wherein the method comprises the following steps: marking the boundary of at least one monitoring zone within the monitoring area using an information carrier according to the first aspect or any embodiment of the first aspect as described above with respect to the first aspect. The information carrier comprises a predetermined code pattern for each boundary. The method further comprises the following steps: using at least one LIDAR sensor, recording at least one configuration image of the monitoring area using the LIDAR sensor, using a computer to analyze at least one configuration image to identify the boundary of at least one monitoring zone in at least one configuration image by identifying the code pattern on the information carrier, and based on the boundary identified in the configuration image, using a computer to define at least one monitoring area in a monitoring image recorded by at least one LIDAR sensor during monitoring of the monitoring area.

[0028] The method according to the second aspect provides an advantageous method for configuring a monitoring zone. Since the steps to be performed are not complex and do not require extensive training, the configuration is also easy to perform by non-technical personnel. The use of the information carrier according to the first aspect makes the detection of the code pattern reliable, which minimizes the risk of configuration failure of the code pattern.

[0029] The method may further comprise the step of associating, using a computer, each monitoring zone with at least one condition and corresponding at least one action for each condition, wherein the monitoring system is configured to initiate the corresponding action when it detects that a condition is satisfied. This facilitates configuration of the monitoring zones.

[0030] The method may further comprise the steps of identifying a shape of the information carrier and retrieving a condition associated with the identified shape from a memory. This increases the density of information transmitted on the information carrier by only a small number of features. The condition to be met may be that movement of an object is detected in a monitoring area. The condition to be met may also include a speed limit to be exceeded and / or a direction interval within which the direction must be in order to meet the condition.

[0031] According to a third aspect, use of the information carrier according to the first aspect or any embodiment of the first aspect as a label for a LIDAR sensor.

[0032] Hereinafter, embodiments will be described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 An information carrier for providing information to a LIDAR sensor according to a first embodiment is shown, wherein the information carrier forms a continuous strip.

[0034] Figure 2 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown, wherein the information carrier forms part of a self-supporting structure in the form of a triangular prism.

[0035] Figure 3 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown, wherein the code carrier forms part of a self-supporting structure in the form of a cuboid.

[0036] Figure 4 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown, wherein the code carrier forms part of a self-supporting structure in the form of a cone.

[0037] Figure 5 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown.

[0038] Figure 6 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown.

[0039] Figure 7 An information carrier for providing information to a LIDAR sensor according to a further embodiment is shown, wherein the code area is circular.

[0040] Figure 8 A monitoring system for monitoring a monitoring area is schematically shown. The monitoring system is configured according to Figures 1 to 7 An information carrier of the embodiment shown.

[0041] Fig. 9 A monitoring system configured for monitoring according to a second embodiment is shown. The monitoring system is configured according to Figures 1 to 7 An information carrier of the embodiment shown.

[0042] Fig.10 Two different methods for defining the monitoring area are shown.

[0043] Fig.11 A monitoring system configured for monitoring according to another embodiment is schematically illustrated.

[0044] Fig.12 A method for configuring a monitoring system is schematically illustrated. DETAILED DESCRIPTION

[0045] The invention is described in the following illustrative and non-limiting detailed description of exemplary embodiments with reference to the accompanying drawings. In the accompanying drawings, similar features in different drawings are indicated by the same reference numerals. The drawings are not drawn to scale.

[0046] Figure 1 A first information carrier 1 and a second information carrier 1' for providing information to a LIDAR sensor 20 are shown. The first information carrier 1 includes a first sheet-like code carrier 2 having a first reflectivity R1. The first information carrier 1 extends from a roll 3 of a continuous sheet material, such as, for example, a tape. The roll 3 is arranged on a first support 4. The first information carrier 1 extends from the roll 3 to a third support 6 via a second support 5 to be attached to the third support 6. The first information carrier 1 changes the extension direction at the second support 5. The second information carrier 1' is arranged on a fourth support 7. The second information carrier 1' includes a second sheet-like code carrier 2' having a first reflectivity R1. The second information carrier 1' is arranged as a continuation of the first information carrier 1 in a direction between the second support 5 and the third support 6. The first information carrier 1 includes four code patterns 8 on one side of the sheet-like code carrier 2' between the second support 5 and the third support 6. The code pattern 8 includes a first code area 9 in the form of a hole passing through the first sheet-like code carrier. The code pattern also includes a second code area 10 having a second reflectivity R2. The code regions 9, 10 are arranged according to a predetermined pattern, and in the embodiment shown, the code regions are arranged in two rows and four columns. The code regions are at a certain distance from each other, and the code carrier is between the code regions 9, 10. Figure 1 In the embodiment shown, all four code patterns 8 are identical and each comprises eight code patterns 8. The second information carrier 1' comprises a code pattern 8' having a first code area 9 in the form of a hole passing through the second sheet-like code carrier 2' and a second code area 10' having a second reflectivity R2.

[0047] As described above, the first information carrier 1 and the second information carrier 1' are configured to provide information to the LIDAR sensor 20. The LIDAR sensor detects the distance of the object based on the direction of the object and the reflectivity. When the LIDAR sensor 20 sends light 21 toward the code pattern 8 on the first information carrier, the light irradiated to the first sheet-like code carrier 2 (i.e., the area around the code areas 9, 10) will generate a signal corresponding to the first reflectivity R1. The light 21 from the LIDAR sensor 20 irradiated to the second code area 10 will generate a signal corresponding to the second reflectivity R2 and the distance and direction to the first code area. The light 21 irradiated to the first code area 9 will pass through the first code area 9 and may be reflected in the background behind the first code area 9. The generated signal from the first code area 9 will correspond to the total absorption in the case where the background behind the first code area is far away, or will correspond to a different distance from the first code area 9 in the case where the background is close enough to the first information carrier to provide reflected light to the LIDAR sensor. Thus, the first code region will be very easy to detect, because the signal from the second code region will be different from the signal from the second code region, either because no light is reflected from the first code region or because the light corresponding to the first code region 9 is reflected from a different distance than the light reflected from the second code region 10. A code pattern with eight code regions and two different code regions, such as the code pattern 8 of the first information carrier 1, having 2 8 -1 different combination, since there is no combination without holes.

[0048] As described above, the code pattern 8' of the second information carrier 1' further includes a third code area 11' having a third reflectivity. By further including a third code area having a third reflectivity, the information content of the code pattern is increased. A code pattern having eight code areas and three different code areas, such as the code pattern 8' of the second information carrier 1', has nearly 3 8 The code pattern includes at least one first code area, a second code area and at least one third code area.

[0049] Figure 2 An information carrier 1 is shown, which comprises: two Figure 1 The embodiment of the described code pattern 8 of the sheet-like code carrier 2, and the base 22, together form a self-supporting structure in the form of a triangular prism. One of the sheet-like code carriers 2 can be detached from the base or from the other of the sheet-like code carriers 2, so that the self-supporting structure can be folded into a flat package. Figure 2 The information carrier 1 shown can be used to mark a boundary to be detected by a LIDAR sensor, for example.

[0050] Figure 3An information carrier 1 according to another embodiment is shown. The information carrier 1 comprises on three sides of the information carrier a Figure 1 The information carrier 1 further comprises a sheet-like code carrier 2 having a code pattern 8. The information carrier 1 further comprises: a support structure 13, which together with the sheet-like code carrier 2 forms a cube. The cube can be configured to be foldable. The cube can include detachable side surfaces 14, side elements 15 and corner elements 16. Figure 2 The information carrier of the embodiment shown can be used to mark a boundary to be detected by a LIDAR sensor, for example. Figure 3 As shown, the code patterns are different from each other. Figure 8 Describe the use of such an information carrier.

[0051] Figure 4 An information carrier 1 according to another embodiment is shown. The information carrier 1 comprises a Figure 1 The sheet-like code carrier 2 of the code pattern 8 described in the embodiment of the present invention has been rolled up and attached along the attachment line 17 so that a self-supporting structure in the form of a cone has been formed. The attachment along the attachment line 17 can be provided with a hook and loop fastener or a magnetic fastener. Figure 2 The information carrier of the embodiment shown can be used to mark a boundary to be detected by a LIDAR sensor, for example.

[0052] Figure 5 Schematically shown is an information carrier 1 in the form of a sheet-like code carrier 2 having a first reflectivity R1 and comprising a code pattern 8. The code pattern 8 comprises a first code area 9 in the form of a hole passing through the first sheet-like code carrier 2. The code pattern also comprises a second code area 10 having a second reflectivity R2. Figure 7 In an embodiment of the invention, the code areas 9, 10 have a circular shape and the code areas are arranged in rows which are shifted relative to adjacent rows.

[0053] Figure 6An information carrier 1 in the form of a sheet-like code carrier 2 having a first reflectivity R1 and comprising a code pattern 8 is schematically shown. The code pattern 8 comprises a first code area 9 in the form of a hole passing through the first sheet-like code carrier 2. The code pattern 8 also comprises a second code area 10 having a second reflectivity R2 and a third code area 11 having a third reflectivity R3. There are two second code areas 10 each having the second reflectivity R2 and two third code areas having the third reflectivity R3. It should be understood that the first reflectivity R1 is different from the second reflectivity R2 and the third reflectivity, and that the second reflectivity R2 is different from the third reflectivity. The code pattern 8 also comprises a fourth code area 12 having the first reflectivity R1. It should be noted that the fourth code area 12 is said to have the first reflectivity R1. This obviously means that the fourth code area has the same reflectivity as the code carrier, i.e. the background of the code pattern. The fourth code area 12 can be regarded as an omitted code area, but is located in the position of the code area according to a predetermined regular pattern. In Figure 6 In , the regular pattern is in the form of two rows, where each row has six code areas. The spacing between adjacent code areas 9, 10, 11, 12 in a row is constant for all pairs of code areas 9, 10, 11, 12 in that row. The distance between adjacent code areas in different rows is also constant for all pairs of code areas in different rows, but can be different from the distance between code areas in the same row. This makes it possible to determine the position of the fourth code area 12, because the pattern is regular. In Figure 6 The horizontal dashed line L is shown in H and the vertical dotted line L V , which represent the direction between the centers of the code regions 9, 10, wherein the line between the centers of two adjacent code regions defines the center-to-center distance, and the center-to-center distance D between adjacent code regions CC and along the line L defining the center-to-center distance H , L V The ratio between the distances between the code areas is in the range of 1.25 to 5, and preferably in the range of 1.5 to 3. Figure 6 Also shown in FIG. 1 are light spots 18 from a LIDAR sensor. In order to be able to identify different code areas and areas between code areas, it is advantageous if at least one light spot 18 is located on each code area or on the area between code areas 9, 10. The distance L between the light spots in the vertical direction is SV The distance L between the light spot in the horizontal direction SH As the distance between the LIDAR sensor and the information carrier increases, the distance L SV , L SHmay become too large to reliably detect the code pattern. In order to maximize the distance between the LIDAR sensor and the information carrier at which the code pattern can be reliably detected, the ratio defined above should be close to 2. The distance between the light spots can be different in the vertical direction than in the horizontal direction. In order to optimize detectability, the code area can have a correspondingly adapted shape, which Figure 6 In the embodiment of , this means that the code area is rectangular. The angular resolution of the LIDAR sensor varies, but is typically in the range of 0.05 to 0.5 degrees.

[0054] exist Figure 6 In the embodiment of the present invention, the sheet-like code carrier 2 has the highest reflectivity and has a surface material that is a cube corner retroreflective material. The third code region 11 has a lower reflectivity than the sheet-like code carrier 2 and has a surface material that is a glass bead retroreflective material, i.e., a material that includes retroreflective spheres. The second code region 10 has the lowest reflectivity and has a surface material that is not a retroreflective material, such as ordinary paint. For all incident angles of light, the reflectivity of the paint on the second code region 10 is low.

[0055] The maximum distance at which the code pattern 8 can be detected ultimately depends on the size of the code area. The maximum size of the code area is in the range of 10 mm to 5000 mm, preferably in the range of 30 mm to 1500 mm. Figure 6 In an embodiment, the maximum dimension is the height of the rectangle.

[0056] Figure 7 An embodiment of a monitoring system 100 for monitoring a monitoring area 31 is schematically shown. The monitoring area 31 is defined by a first cone 61, a second cone 62, a third cone 63, a fourth cone 64, and a fifth cone 65. The first cone 61 includes a first LIDAR sensor 101 at the top. The third cone 63 includes a second LIDAR sensor 101' at the top, and the fourth cone 64 includes a third LIDAR sensor 101" at the top. Each of the cones 61 to 65 is similar to Figure 4 The cone shown, and including Figure 6The at least one code pattern 8 described. At least one code pattern becomes detectable by an adjacent LIDAR sensor 101. Each cone 61 to 65 can also include several identical code patterns 8, so that at least one code pattern can always be detected by the LIDAR sensor 101. The monitoring system comprises: at least one computer 102, which in the illustrated embodiment is arranged on the first cone 61. The LIDAR sensor 101 can perform radio communication with the computer 102. The boundaries of the monitoring area 5 are marked using an information carrier 1 in the form of a cone 61 to 65. Each LIDAR sensor 101, 101', 101" records a configuration image of the monitoring area 31 using the LIDAR sensor 101, 101', 101". Figure 7 In the embodiment of the present invention, the LIDAR sensor has a 360° FOV. Therefore, the monitoring area 31 includes Figure 7 Everything shown.

[0057] The computer 102 receives the configuration image and analyses it in order to identify the boundaries of at least one monitoring zone 5 in the configuration image by identifying the code pattern 8 on the information carrier in the form of cones 61 to 65. Figure 7 In the embodiment of the present invention, the first LIDAR sensor 101 is close enough to the second cone 62 and the third cone 63 to detect the code pattern 8 on the cones, but is too far from the fourth cone 64 and the fifth cone 65 to detect the code pattern 8 on the cones. The second LIDAR sensor 101' is close enough to all other cones to detect the code pattern 8 on the cones. The third LIDAR sensor 101" is close enough only to the second cone 62, the third cone 63, and the fifth cone 65 to detect the code pattern 8 on the cones.

[0058] Based on the boundaries identified in the configuration image, the computer 102 defines the monitoring area 5 in the monitoring images recorded by the LIDAR sensors 101 , 101 ′, 101 ″ during the monitoring.

[0059] Figure 8A monitoring system 100 for monitoring a monitoring area 31 according to a second embodiment is schematically shown. The monitoring system 100 comprises a LIDAR sensor 101. The LIDAR sensor 101 is configured to record images of the monitoring area 31. The monitoring system 100 further comprises a computer 102 connected to the imaging device 101. An automatic machine 32 is schematically shown within the monitoring area 31. The automatic machine 32 is controlled by a control unit 33. In order to avoid harm to people, it is desirable to ensure that people do not approach the automatic machine 32 when it is running. To this end, the monitoring system is configured to detect objects near the automatic machine 32, such as a person 34. During operation of the monitoring system 100, the camera device continuously records images of the monitoring area 1 and sends them to the computer 102. The computer 102 analyzes the recorded images to detect objects near the automatic machine 32.

[0060] In order to configure the monitoring system 100, it is necessary to define a monitoring zone 35 in which a person 34 is not allowed during operation of the automatic machine. When configuring the monitoring system 100, an information carrier 1 (such as information about Figure 1 The information carrier 1 described above marks the boundaries of the monitoring area 35 in the monitoring area 31. The information carrier 1 comprises a predetermined code pattern 8 ( Figure 1 ).exist Figure 8 In the embodiment of the present invention, the information carrier 1 is illustrated as having a Figure 1 The information carrier 1 marks the boundaries of the monitoring area 35. Figure 1 As shown, monitoring area 35 may have any shape suitable for the environment, as long as monitoring system 100 as a whole complies with any regulations that may apply. Figure 1 In an embodiment of the present invention, the monitoring area 35 has an irregular shape so that the operator can physically access the computer 33 and the device 37 without having to enter the monitoring area 35. The monitoring system 100 is configured to record a configuration image of the monitoring area 31 using the LIDAR sensor 101. The configuration image is analyzed using a computer 102 to identify the boundaries of the monitoring area 35 in the configuration image by identifying the code pattern on the information carrier 1. After the boundaries have been identified, the computer 102 defines the monitoring area 35 in the monitoring image recorded by the LIDAR sensor during the monitoring of the monitoring area 31 based on the boundaries identified in the configuration image. Therefore, during the subsequent monitoring of the monitoring area 31, the information carrier is not in the original position.

[0061] exist Figure 8 Also shown is a box 41 for configuring a monitoring system for Cartesian coordinates. The box includes 6 sides, wherein a first side 42, a second side 42' and a third side 42" have different code patterns, as described above with reference to Figure 3As illustrated. Also shown are normals to each of the surfaces 42, 42' and 42". The normal to the first side 42 defines the x-axis, the normal to the second side 42' defines the y-axis, and the normal to the third side 42" defines the z-axis. By arranging the boxes with the sides oriented in the desired directions, the monitoring system 100 can automatically configure a Cartesian coordinate system from the configuration image. This is particularly useful where the LIDAR sensor is a rotating LIDAR sensor. This is due to the 3-dimensional 3D recording of the image using the LIDAR sensor.

[0062] Fig. 9 A monitoring system 100 configured for monitoring according to a third embodiment is shown. Fig. 9 In FIG. 4 , the automatic machine is a conveyor belt 47 which during operation runs in the direction of arrow 40 from a loading station 48 to an unloading station 49 . Figure 8 The LIDAR sensor 101 in records a 3-dimensional image. In more detail, the LIDAR sensor emits light in discrete directions and measures the reflected signal from each direction. The field of view FOV and resolution are different for different LIDAR sensors. The FOV is typically in the range of 10° to 90° in a first direction and 360° in a direction perpendicular to the first direction. There are many different FOVs for LIDAR sensors for different applications. A LIDAR sensor for vehicle applications may have a FOV of 30° in the first direction and a FOV of 120° in a direction perpendicular to the first direction. The resolution is typically in the range from 0.1° to 2°. In some LIDAR sensors, the resolution can be set by the operator. Fig. 9 b is along Fig. 9 The LIDAR sensor 101 has a FOV shown by lines 111. Within the FOV, the imaging device emits light in discrete directions between the lines 111. Fig. 9 As shown in a, the distance between the lines 111 increases as the distance from the LIDAR sensor 101 increases.

[0063] Fig. 9 The monitoring system in a is configured to monitor the outside of the conveyor belt 47 and the ground on these sides of the conveyor belt 47 to detect material that has fallen from the conveyor belt and is too close to the edge 42 of the conveyor belt 47. The material can be any type of material, such as, for example, boxes or granular materials. Fig. 9 To configure the monitoring system 100 in the embodiment of a, it is necessary to define the monitoring area 45. In order to define the monitoring area 45, use the Figure 1 A first information carrier 1 of the type described is used to mark the border of the monitoring zone 45, the first information carrier 1 comprising a predetermined code pattern 8 ( Figure 1). The monitoring area 45 is marked when the conveyor belt 47 is not running. Fig. 9 In the embodiment of a, the information carrier 1 is illustrated as having Figure 1 Plastic tape with the described code pattern. Fig. 9 In FIG. 4 , the code pattern code is shown as a shading on the information carrier 1. The first information carrier 1 marks the border of the monitoring zone 45. Since the central part of the conveyor belt is to be excluded from the monitoring zone, the central part of the conveyor belt is covered by the second information carrier 1 ′ which is provided with a predetermined code pattern 8 ( Figure 1 ).exist Fig. 9 , the code pattern on the second information carrier 1 'is shown by dots. The monitoring system is configured to record a configuration image of the monitoring area 31 using the imaging device 101. The configuration image is analyzed using a computer to identify the boundaries of the monitoring area 45 in the configuration image by identifying the predetermined code pattern associated with the first information carrier 1, and the code pattern associated with the second information carrier 1' and the corresponding extension of the second information carrier 1', and to identify the area of ​​the central part of the conveyor belt to be excluded. After the first information carrier 1 and the second information carrier 1' have been identified, the computer defines the monitoring area 45 in the monitoring image recorded by the imaging device during the monitoring of the monitoring area 31 based on the boundaries identified in the configuration image. Therefore, during the subsequent monitoring of the monitoring area 31, the first information carrier 1 and the second information carrier 1' are not in the original position. During the configuration, the monitoring area 45 is associated with at least one condition and at least one action corresponding to each condition. The monitoring system 100 is also configured to initiate the corresponding action when it detects that the condition is met.

[0064] As an illustrative example, the conveyor belt 7 may be configured for transporting granular material. If during operation of the conveyor belt, the monitoring system 100 detects that a particle 14 is in the monitoring zone 5, the monitoring system sends a warning, for example, to an operator. If another particle is detected in the monitoring zone 5 within a predetermined time limit, the monitoring system initiates stopping the conveyor belt. The initiation of stopping can be accomplished in many different ways. One alternative is that the monitoring system sends a signal to a control unit 49 controlling the operation of the conveyor belt 47 that the conveyor belt 7 should be stopped. When a subsequent particle is detected after the predetermined time limit has expired, a warning is again sent.

[0065] In an alternative embodiment, the monitoring is configured to detect damage to the edge of the conveyor belt 7. In this case, the monitoring area (not shown) is the edge of the conveyor belt 7, and the center of the conveyor belt is covered with a sheet 13. In this embodiment, it is preferred to have an imaging device 101 that records a three-dimensional image. In essentially the same configuration, the monitoring can also be used to monitor the width of the load on the conveyor belt 7.

[0066] In another alternative embodiment, the loading height on the conveyor belt 47 is monitored. In this embodiment, the LIDAR sensor 101 recording the three-dimensional image is Fig. 9 A and Fig. 9 In this case, the monitoring area is the central part of the conveyor belt 47, and the outer part of the conveyor belt 47 is marked during configuration.

[0067] Fig.10 Two different methods for defining the monitoring area are shown. Fig.10 shows a similar Fig. 9 47 is described. The conveyor belt 47 has a curved cross section so that the edge 51 of the conveyor belt 47 is located above the center 52 of the conveyor belt. An information carrier 1, 1 ' in the form of a sheet-like code carrier 2, 2' is shown in two different positions. In the first position, the information carrier 1 with the code pattern 8 rests on the edge 51 of the conveyor belt 47. In the second embodiment, the information carrier 1 'also rests on the conveyor belt 47 at the center 52 of the conveyor belt 47. The conveyor belt is usually a black rubber with low reflectivity. The information carrier has a first reflectivity R1 that is higher than the reflectivity of the conveyor belt 47. The code pattern 8, 8' includes a first code area 9 in the form of a hole passing through the first sheet-like code carrier 2 and a second code area 10 with a second reflectivity R2, which is higher than the reflectivity of the conveyor belt and different from the first reflectivity R1. In the first embodiment, the sheet-like code carrier 2 is at a greater distance from the conveyor belt. This results in the first code area 9 being more reliably registered because essentially no light will be reflected back from the conveyor belt 47 through the first code area 9.

[0068] Fig.11 A monitoring system configured for monitoring according to a third embodiment is schematically shown. A LIDAR sensor 101 monitors a monitoring area 31. The LIDAR sensor is connected to a computer 102 and together they form a monitoring system 100. Fig.11 In the embodiment, an automatic machine 52, which may be an industrial robot, is covered by a first information carrier 1 in the form of a sheet including a code pattern 8 according to the above-described embodiment. The first information carrier 1 excludes the area near the automatic machine 2 from monitoring. When configuring the monitoring system 100, a code pattern 8 ( Figure 1 ) to mark the boundary of the first monitoring area 55. Using a predetermined code pattern 8 ( Figure 1 ) to mark the boundary of the second monitoring area 5'. When configuring the monitoring system, the monitoring areas 5, 5' are associated with at least one condition and at least one corresponding action for each condition. Figure 3, a first person 54 is shown with a corresponding arrow showing the direction of the first person 54. A second person 54' is shown with a corresponding arrow showing the direction of the second person 54'. The first person 54 and the second person 54' are in the second monitoring zone 55'. The monitoring system 100 is configured to take different actions not only based on the positions of the persons 54, 54' but also based on the directions. The first person 54 does not have a direction toward the first monitoring zone 55, and the monitoring system 100 is configured to only send a warning when such a person is detected. The second person 54' has a direction toward the first monitoring zone 55, and the monitoring system 100 is configured to initiate a stop of the automatic machine when such a person is detected. The monitoring system 100 is configured to initiate a stop of the automatic machine 52 when a person is detected within the first monitoring zone 55.

[0069] Fig.12 A method for configuring a monitoring system is schematically shown. A LIDAR sensor is connected to a computer 102 and together they form a monitoring system 100. The LIDAR sensor 101 monitors a monitoring area 31. The LIDAR sensor 101 detects the information carrier 1 and the code pattern 8 on the information carrier 1. By detecting the shape of the information carrier 1 as a cone and by interpreting the code pattern 8, the computer 102 of the monitoring system 100 determines a warning area 57. After configuring the monitoring system 100, the information carrier 1 can be removed. When a person 54 enters the warning area 57, the monitoring system 100 detects this and warns the person by emitting sound and light signals via a lamp 120 and a loudspeaker 121. In this way, the person is warned and the person can avoid walking into the hole 53.

[0070] The embodiments described above may be modified in many ways without departing from the scope of the invention, which is limited only by the accompanying claims and their limitations.

Claims

1. An information carrier (1, 1') for providing information to a LIDAR sensor (20, 101, 101', 101"), comprising: - a sheet-shaped code carrier (2) having a first reflectivity (R1), - at least one code pattern (8) on a portion of one side of the sheet-like code carrier (2), Characterized in that the code pattern (8) comprises: - a first code area (9) in the form of a hole passing through the sheet-like code carrier (2), and - a second code region (10) having a second reflectivity (R2), wherein the code regions are arranged according to a predetermined regular pattern, and The code areas are located at a certain distance from each other, and the code carrier is located between the code areas.

2. The information carrier (1, 1') according to claim 1, wherein: The code pattern (8) includes a third code region (11) having a third reflectivity (R3) or the first reflectivity (R1).

3. The information carrier (1, 1') according to claim 1, wherein: The code pattern (8) includes a third code region (11) having a third reflectivity (R3) and a fourth code region (12) having the first reflectivity (R1).

4. The information carrier (1, 1') according to claim 1 or 2, wherein: At least one of the sheet-like code carrier (2) and the second code region (10) has a surface of a retroreflective material.

5. The information carrier (1, 1') according to claim 2, wherein: At least one of the sheet-like code carrier (2), the second code region (10) and the third code region (11) has a surface of a retroreflective material.

6. The information carrier (1, 1') according to claim 4, wherein: The retroreflective material on the surface of each of the sheet-like code carrier (2) and the second code region (10) includes retroreflective spheres, such as retroreflective glass beads, or cube-corner retroreflective material.

7. The information carrier (1, 1') according to claim 5, wherein: The retroreflective material on the surface of each of the sheet-like code carrier (2), the second code region (10), and the third code region (11) includes retroreflective spheres, such as retroreflective glass beads, or cube-corner retroreflective material.

8. The information carrier (1, 1') according to any one of the preceding claims, wherein: The line (L V , L H ) defines the center-to-center distance (D CC ), wherein the center-to-center distance (D CC ) and along the center-to-center distance (D CC ) of the line (L V , L H ) is in the range of 1.25 to 5, and preferably in the range of 1.5 to 3.

9. The information carrier (1, 1') according to any one of the preceding claims, wherein: The information carrier (1) forms at least a part of a self-supporting structure such as, for example, a cone, a cuboid, a pyramid, a triangular prism or a cylinder.

10. The information carrier (1, 1') according to claim 9, wherein: The self-supporting structure is foldable.

11. The information carrier (1, 1') according to any one of claims 1 to 8, wherein: The information carrier (1, 1') forms a continuous strip.

12. The information carrier (1, 1') according to any one of the preceding claims, wherein The code area (9 to 12) has a rectangular shape.

13. The information carrier (1, 1') according to any one of the preceding claims, wherein The maximum dimension of the code area (9 to 12) is in the range of 10 mm to 5000 mm, preferably in the range of 30 mm to 1500 mm.

14. A method for configuring a monitoring system (100), wherein: The monitoring system (100) comprises: at least one LIDAR sensor (101) configured to record images of a monitoring area (31); and a computer (102) in communication with the at least one LIDAR sensor (101), wherein the method comprises the following steps: - marking the boundaries of at least one surveillance zone (35) within the surveillance area (31) using an information carrier (1) according to any one of claims 1 to 11, the information carrier (1) comprising a predetermined code pattern for each boundary, - using said at least one LIDAR sensor, recording at least one configuration image of said monitoring area (31) using said LIDAR sensor (101), - analyzing the at least one configuration image using the computer (102) to identify the boundaries of the at least one monitoring zone (5, 5') in the at least one configuration image by identifying a code pattern (8) on the information carrier (1), and - defining, using the computer (102), the at least one monitoring zone (5, 5') in a monitoring image recorded by the at least one LIDAR sensor (101) during monitoring of the monitoring area (31), based on the boundaries identified in the configuration image.

15. The method according to claim 14, wherein: The method further comprises the step of associating, using the computer (102), each monitoring zone (5, 5') with at least one condition and at least one corresponding action for each condition, wherein the monitoring system is configured to initiate the corresponding action when the monitoring system detects that a condition is satisfied.

16. The method according to claim 15, further comprising the steps of: - identifying the shape of the information carrier, and - Retrieving conditions associated with the identified shape from memory.

17. The method according to claim 15 or 16, wherein: The condition to be met is the detection of movement of an object (4, 4') in the monitoring zone (5, 5').

18. The method according to claim 17, wherein: The conditions to be met may also include a speed limit to be exceeded and / or a direction interval within which the direction must lie in order to meet the conditions.

19. Use of an information carrier according to any one of claims 1 to 13 as a marking for a LIDAR sensor (101, 101', 101").

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