Patent ID: 8724096

Claim:
An optoelectronic sensor ( 10 ) comprising: a laser scanner, for the detection and distance determination of objects in a monitoring area ( 20 ); a light transmitter ( 12 ) for transmitting a transmission light beam ( 16 ) with a plurality of successive individual light pulses ( 54 ); a rotatable deflecting unit ( 18 ) for periodically deflecting the transmission light beam ( 16 ) in the monitoring area ( 20 ); an angle encoding unit ( 30 ) for generating angular position signals ( 58 ) in dependence on an angle position of the deflecting unit ( 18 ); a light receiver ( 26 ) for generating reception pulses ( 102 ) from the transmission light reflected or remitted by objects in the monitoring area ( 20 ); and an evaluation unit ( 32 ) which is configured to collect a plurality of reception pulses ( 102 ) in a time histogram ( 110 ) and to determine the light time of flight from the sensor ( 10 ) to an object from the histogram ( 110 ) and, from that, a measured value for the object distance, wherein the evaluation unit ( 32 ) is configured to select a respective group ( 56 ) of reception pulses ( 102 ) that is collected in a histogram ( 110 ) based on the angular position signal ( 58 ) and to assign the measured value for the object distance determined from the histogram ( 110 ) of the group ( 56 ) to a detection angle identified by the angular position signal ( 58 ), and wherein the evaluation unit ( 32 ) is configured to make the selection of reception pulses ( 102 ) to a group ( 56 ) with a time delay.