US 12,105,202 B2
Optoelectronic sensor and method of detecting objects
Thomas Russ, Waldkirch (DE); Sebastian Tschuch, Waldkirch (DE); and Romain Müller, Waldkirch (DE)
Assigned to SICK AG, Waldkirch (DE)
Filed by SICK AG, Waldkirch (DE)
Filed on Oct. 21, 2020, as Appl. No. 17/076,187.
Claims priority of application No. 102019129986.1 (DE), filed on Nov. 7, 2019.
Prior Publication US 2021/0141094 A1, May 13, 2021
Int. Cl. G01S 17/894 (2020.01); G01S 7/481 (2006.01); G01S 7/497 (2006.01); G01S 17/08 (2006.01); H04N 23/695 (2023.01); H04N 23/698 (2023.01)
CPC G01S 17/894 (2020.01) [G01S 7/4817 (2013.01); G01S 7/497 (2013.01); G01S 17/08 (2013.01); H04N 23/695 (2023.01); H04N 23/698 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An optoelectronic sensor for detecting objects in a monitored zone, wherein the optoelectronic sensor comprises:
a laser scanner having a light transmitter, a light receiver, and a deflection unit, wherein the deflection unit is rotatable about an axis of rotation for scanning the monitored zone with at least one scanning beam;
a first distance measurement unit for determining, using a received signal of the light receiver, three-dimensional (3D) measurement points of the respective objects impacted by the scanning beam using a time-of-flight method;
a panorama camera having panorama optics and having an image sensor with a plurality of light reception elements for detecting picture elements; and
a control and evaluation unit that is configured to transform the 3D measurement points of the laser scanner and the picture elements of the panorama camera into a common coordinate system and fuse the transformed 3D measurement points of the laser scanner and the transformed picture elements of the panorama camera in the common coordinate system,
wherein an optical axis of the panorama camera and the axis of rotation coincide.