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1. 发明授权

US11669092B2 Time of flight system and method for safety-rated collision avoidance 有权
公开(公告)号：US11669092B2
公开(公告)日：2023-06-06
申请号：US16555084
申请日：2019-08-29
申请人： Rockwell Automation Technologies, Inc.
发明人： Frederic Boutaud , Linda A. Freeman
IPC分类号： G05D1/00 , G06T7/73 , G05D1/02 , G06V20/58
CPC分类号： G05D1/0094 , G05D1/0088 , G05D1/0214 , G06T7/75 , G06V20/58 , G05D2201/0207 , G06T2207/10028
摘要： A safety system for autonomously mobile machinery (e.g., automated guided vehicles) achieves safety-rated collision avoidance functionality by detecting objects located in the field of view of a three-dimensional (3D) time-of-flight (TOF) vision system or camera. Incorporating a 3D TOF camera into a collision avoidance system allows a large volume to be monitored for object intrusion, improving reliability of object detection. To ensure reliability of the safety system's obstacle detection capabilities, the collision avoidance system also includes self-diagnostic capabilities that verify the accuracy of the TOF camera's distance measurements even in the absence of a test object within the camera's field of view. This is achieved by tilting the TOF camera downward to include the floor within the camera's field of view, allowing the floor to act as a test object that can be leveraged to verify accuracy of the camera's distance measurements.

2. 发明申请

US20210064037A1 TIME OF FLIGHT SYSTEM AND METHOD FOR SAFETY-RATED COLLISION AVOIDANCE 有权
公开(公告)号：US20210064037A1
公开(公告)日：2021-03-04
申请号：US16555084
申请日：2019-08-29
申请人： Rockwell Automation Technologies, Inc.
发明人： Frederic Boutaud , Linda A. Freeman
IPC分类号： G05D1/00 , G06K9/00 , G05D1/02 , G06T7/73
摘要： A safety system for autonomously mobile machinery (e.g., automated guided vehicles) achieves safety-rated collision avoidance functionality by detecting objects located in the field of view of a three-dimensional (3D) time-of-flight (TOF) vision system or camera. Incorporating a 3D TOF camera into a collision avoidance system allows a large volume to be monitored for object intrusion, improving reliability of object detection. To ensure reliability of the safety system's obstacle detection capabilities, the collision avoidance system also includes self-diagnostic capabilities that verify the accuracy of the TOF camera's distance measurements even in the absence of a test object within the camera's field of view. This is achieved by tilting the TOF camera downward to include the floor within the camera's field of view, allowing the floor to act as a test object that can be leveraged to verify accuracy of the camera's distance measurements.

3. 发明申请

US20200341126A1 INDUSTRIAL SAFETY SENSOR 审中-公开
公开(公告)号：US20200341126A1
公开(公告)日：2020-10-29
申请号：US16927127
申请日：2020-07-13
申请人： Rockwell Automation Technologies, Inc.
发明人： Chris Yates , Frederic Boutaud , Igor Abrosimov , Chris Softley , Michael M. Tilleman , Richard Galera , Arvind Ananthanaraya
IPC分类号： G01S7/497 , G01S7/4863 , G01S7/481
摘要： An active illumination three-dimensional sensor device is configured with a number of diagnostic functions that can satisfy the requirements of industrial safety within the context of a single-channel safety sensor architecture. The sensor diagnostic functions provide sufficient diagnostic coverage for an optical safety sensor (e.g., a time-of-flight safety sensor) to achieve a desired safety integrity level without the need for multiple channels. The diagnostic features can be applied to one or more components along the single-channel path (e.g., the sequencer, the illumination source, input and/or output optics, image sensor pixel, etc.) to provide a level of diagnostic coverage that renders the optical safety sensor suitable for use within industrial safety applications requiring high safety integrity levels.

4. 发明授权

US10663565B2 Pulsed-based time of flight methods and system 有权
公开(公告)号：US10663565B2
公开(公告)日：2020-05-26
申请号：US15708268
申请日：2017-09-19
申请人： Rockwell Automation Technologies, Inc.
发明人： Frederic Boutaud , Mei Li
IPC分类号： G01C3/08 , G01S7/4865 , G01S17/10
摘要： A time of flight sensor device is provided that is capable of generating accurate information relating to propagation time of emitted light pulses using a small number of measurements or data captures. By generating pulse time of flight information using a relatively small number of measurement cycles, object distance information can be generated more quickly, resulting in faster sensor response times. Embodiments of the time of flight sensor can also minimize or eliminate the adverse effects of ambient light on time of flight measurement. Moreover, some embodiments execute time of flight measurement techniques that can achieve high measurement precision even when using relatively long light pulses having irregular, non-rectangular shapes.

5. 发明授权

US10552512B2 System and method for determining sensor margins and/or diagnostic information for a sensor 有权
公开(公告)号：US10552512B2
公开(公告)日：2020-02-04
申请号：US16157323
申请日：2018-10-11
申请人： Rockwell Automation Technologies, Inc.
发明人： Frederic Boutaud
IPC分类号： G06F17/18 , G05B23/02
摘要： Systems and techniques for determining sensing margins and/or diagnostic information associated with a sensor are presented. A statistics component generates statistical data based on sensor data associated with a sensing device. A margin component generates sensing margins for the sensing device based on the statistical data. An output component generates an indicator for a changing condition associated with the sensing device based on the sensing margins. In an aspect, a diagnostic component generates diagnostic data for the sensing device based on the statistical data.

6. 发明授权

US09641259B1 System and method for pulsed based receiver photo sensor 有权
公开(公告)号：US09641259B1
公开(公告)日：2017-05-02
申请号：US15186939
申请日：2016-06-20
申请人： Rockwell Automation Technologies, Inc.
发明人： Donald L. Charlantini , Gregory J. Reimann , Derek W. Gallon , Frederic Boutaud
IPC分类号： H04B10/69 , H04B10/00 , H04B1/717 , G02B6/35 , H04B7/17 , H01S3/00
CPC分类号： H04B10/691 , G01V8/12 , G02B6/3598 , H01S3/00 , H04B1/7174 , H04B7/17 , H04B10/152
摘要： A photoelectric sensor uses a selective pulse detection technique and associated synchronization techniques to improve the quality of pulse detection, the operating range of the sensor, and the sensor's immunity to noise. These improvements also yield faster sensor response times and reduce the design cycle time. A modulated light beam emitted by the sensor's emitter comprises multiple pulse periods, with a pulse being transmitted within each period. The pulses are positioned within their respective periods at a defined offset time relative to the start of the periods, where the offset time can vary between periods according to a defined pattern. The receiver can selectively sample the signal based on synchronization information to determine whether the received signal contains the emitted pulse pattern. Through-beam sensor embodiments can generate the synchronization information internally based on an analysis of the analog signal corresponding to the modulated signal.

7. 发明申请

US20160054153A1 INDUCTIVE SENSING SYSTEMS AND METHODS BASED ON MULTIPLE FREQUENCIES 有权
标题翻译：基于多种频率的感应感应系统和方法
公开(公告)号：US20160054153A1
公开(公告)日：2016-02-25
申请号：US14466530
申请日：2014-08-22
申请人： ROCKWELL AUTOMATION TECHNOLOGIES, INC.
发明人： James Feng Sun , Frederic Boutaud
IPC分类号： G01D5/20
CPC分类号： H03K17/9547 , G01D5/2006 , H03K2217/952
摘要： A target detection system may include a power supply and an inductor capacitor (LC) tank circuit. The LC tank circuit may include a sensing coil, a first tank capacitor, and a second tank capacitor. Further, the LC tank circuit may alternate between the first tank capacitor and the second tank capacitor, and the power supply may power the LC tank circuit. The target detection system may further include measurement circuitry to measure a first decay characteristic of a first set of free oscillations from the first tank capacitor and a second decay characteristic of a second set of free oscillations from the second tank capacitor. Additionally, the target detection system may also include processing circuitry to compare the first decay characteristic to the second decay characteristic to determine a presence and a distance of a target.
摘要翻译：目标检测系统可以包括电源和电感电容器（LC）电路。 LC槽电路可以包括感测线圈，第一储能电容器和第二储能电容器。此外，LC槽电路可以在第一储能电容器和第二储能电容器之间交替，并且电源可以为LC箱电路供电。目标检测系统还可以包括测量电路，以测量来自第一储能电容器的第一组自由振荡的第一衰减特性和来自第二储能电容器的第二组自由振荡的第二衰减特性。另外，目标检测系统还可以包括处理电路，以将第一衰减特性与第二衰减特性进行比较，以确定目标的存在和距离。

8. 发明授权

US10996324B2 Time of flight system and method using multiple measuring sequences 有权
公开(公告)号：US10996324B2
公开(公告)日：2021-05-04
申请号：US15978728
申请日：2018-05-14
申请人： Rockwell Automation Technologies, Inc.
发明人： Frederic Boutaud
IPC分类号： G01C3/08 , G01S7/4865 , G01S17/18
摘要： A time of flight sensor device is capable of extending its total sensing distance using multiple measuring sequences for each distance measuring operation. Such embodiments can execute two or more iterations of a measuring sequence, where the gating signal control sequence for each measuring sequence is offset in time relative to a previous sequence. This yields a greater number of sampling points within which a reflected pulse can be detected and measured, resulting in a total measurable time of flight range that is greater than a measuring operation that uses a fixed timing for the gating signals.

9. 发明授权

US10725157B1 Industrial safety sensor 有权
公开(公告)号：US10725157B1
公开(公告)日：2020-07-28
申请号：US16376009
申请日：2019-04-05
申请人： Rockwell Automation Technologies, Inc.
发明人： Chris Yates , Frederic Boutaud , Igor Abrosimov , Chris Softley , Michael M. Tilleman , Richard Galera , Arvind Ananthanaraya
IPC分类号： G01C3/08 , G01S7/497 , G01S7/4863 , G01S7/481
摘要： An active illumination three-dimensional sensor device is configured with a number of diagnostic functions that can satisfy the requirements of industrial safety within the context of a single-channel safety sensor architecture. The sensor diagnostic functions provide sufficient diagnostic coverage for an optical safety sensor (e.g., a time-of-flight safety sensor) to achieve a desired safety integrity level without the need for multiple channels. The diagnostic features can be applied to one or more components along the single-channel path (e.g., the sequencer, the illumination source, input and/or output optics, image sensor pixel, etc.) to provide a level of diagnostic coverage that renders the optical safety sensor suitable for use within industrial safety applications requiring high safety integrity levels.

10. 发明授权

US10145873B2 Coil architecture for inductive sensors 有权
公开(公告)号：US10145873B2
公开(公告)日：2018-12-04
申请号：US14319844
申请日：2014-06-30
申请人： Rockwell Automation Technologies, Inc.
发明人： Lin Wang , Frederic Boutaud
IPC分类号： G01R27/26 , H01F27/32 , H01F27/28 , H01F27/30 , H01F27/40 , H01F41/06 , H01F5/02 , H01F21/02 , G01V3/10
摘要： A bobbin and coil architecture is provided for use in an inductive sensor. The architecture eliminates the need for coil shielding and reduces the sensor's sensitivity to temperature and proximate mounting hardware. In one or more embodiments, all or portions of separate coils are located in a common slot on the bobbin, rather than being segregated into separate slots. In an example configuration, two receiver coils may be located in respective two slots on the bobbin, and a transmitter coil may divided into two substantially equal subsets of windings, with each subset wound together with one of the receiver coils in a common slot. This yields a symmetrical and balanced winding architecture that requires fewer slots relative to designs that segregate all coils into separate slots.

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