Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
  • G01S17/06—Systems determining position data of a target
  • G01S17/46—Indirect determination of position data
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
  • G01S17/04—Systems determining the presence of a target
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/88—Lidar systems specially adapted for specific applications
  • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
  • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
  • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
  • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser

Definitions

• the invention relates to an obstacle detection device disposed on a mobile vehicle and applies in particular to the field of navigation.
• the invention also relates to an obstacle detection method implementing such a device.
• the safety of the vehicle and elements of its environment includes the detection of obstacles in the environment and the avoidance of collision with these obstacles.
• the invention aims to overcome all or part of the problems mentioned above by providing an obstacle detection device located in the environment of a mobile vehicle, and a method implementing such a device.
• the subject of the invention is an obstacle detection device intended to equip a mobile vehicle parallel to a reference plane, characterized in that it comprises:
• An image analysis means capable of determining the presence of an obstacle by detecting a presence of an image on the detection surface.
• the vehicle has a preferred direction of movement in a first direction along an axis X and the device further comprises a first transmitter said oblique of a first oblique beam extending in a first oblique virtual plane in the first direction along the axis X and secant to the reference plane, and a second transmitter said oblique of a second oblique beam extending in a second oblique virtual plane in the first direction along the axis X and secant to the reference plane .
• the device also includes a first image sensor capable of producing an image around the intersection of the first and second oblique virtual planes with the reference plane.
• the device comprises a first said horizontal transmitter of a first horizontal beam extending in a first virtual plane substantially parallel to the reference plane and the first image sensor is able to produce a image of the intersection of the first virtual plane and the obstacle.
• the first virtual plane forms an angular sector around the X axis
• the device further comprises a second said horizontal transmitter of a second horizontal beam extending in a second virtual plane in a first direction, forming an angular sector around a Y axis perpendicular to the X axis and substantially parallel to the reference plane.
• the device includes a second image sensor adapted to produce an image of the intersection of the second virtual plane and the obstacle.
• the device comprises a third said horizontal transmitter of a third horizontal beam extending in a third virtual plane in a second direction, opposite the first direction, forming an angular sector around the axis Y and substantially parallel to the reference plane, a third image sensor capable of producing an image of the intersection of the third virtual plane and the obstacle.
• the angular sector formed by the first horizontal beam is spaced from the angular sectors formed by the second and third horizontal beams by a predefined angle.
• the angular sector is 120 °.
• the device further comprises means for positioning a so-called horizontal virtual plane for positioning said so-called horizontal virtual plane so that it does not intersect the reference plane.
• the positioning means may consist of a servo loop capable of determining an angular position of the so-called horizontal virtual plane relative to the reference plane and of transmitting a new angular position to the so-called horizontal transmitter forming the so-called horizontal virtual plane.
• the positioning means may also be constituted by a positive angle between the so-called horizontal virtual plane and the reference plane.
• the device further comprises a shovel beam transmitter extending in a virtual plane configured to intersect with the reference plane along a straight line perpendicular to the X axis, and the first image sensor is able to produce an image of the right.
• the beam or beams are laser beams.
• the device comprises control means configured to selectively disable transmitters and sensors depending on the direction of movement of the vehicle.
• the device further comprises a processing circuit configured to clock the beam emissions by the transmitters and synchronize beam transmissions with sensor shooting.
• the invention also relates to a vehicle implementing such a device.
• the invention also relates to an obstacle detection method implementing such a device, characterized in that it comprises the following steps:
• the method according to the invention may also comprise the following steps:
• the mobile vehicle is for example a robot.
• This robot can have wheels to allow its movement on a reference plane.
• the invention also applies to a humanoid robot moving by means of legs.
• the mobile vehicle can be any type of vehicle, moving parallel to a reference plane, either in contact with the reference plane by means of wheels, or on air cushions.
• the invention also relates to a humanoid robot comprising a detection device according to the invention.
• humanoid robot is meant a robot with similarities to the human body. It may be the upper body, or only an articulated arm ending in a clamp comparable to a human hand. In the present invention, the upper body of the robot is similar to that of a human trunk.
• a detection device according to the invention makes it possible to determine obstacles in the environment of the robot.
• FIG. 1 represents virtual planes formed by two beams
• FIG. 2a represents a view from above of a device according to the invention showing virtual planes of the beams parallel to the reference plane,
• FIG. 2b represents a sectional view of a device according to the invention showing a virtual plane of a beam substantially parallel to the reference plane,
• FIG. 2c represents a control loop making it possible to adjust an angular position of a virtual plane with respect to the reference plane
• FIG. 3 represents a virtual plane formed by a beam, and virtual planes formed by two beams,
• FIGS. 4a, 4b, 4c represent an intersection of a virtual plane with an obstacle according to the invention
• FIG. 5 represents virtual planes formed by beams and a field covered by a camera
• FIG. 6 represents a beam emitter able to form a virtual plane
• FIG. 7 represents a robot with a humanoid character implementing an obstacle detection device according to the invention
• FIG. 8 represents an example of a pedestal comprising wheels for a humanoid robot implementing an obstacle detection device according to the invention
• FIG. 9 schematically represents a processor providing the functions of processing and synchronizing beam transmissions and shots
• FIG. 10 schematically illustrates the steps of an obstacle detection method according to the invention
• FIGS. 11a and 11b show two obstacle detection configurations
• FIG. 12 schematically illustrates a side view of a device according to the invention showing horizontal planes oblique oblique and shovel.
• a mobile vehicle 1 1 has a preferred direction of movement in a first direction along an axis X.
• FIG. 1 shows a view of the device 10 according to the invention.
• the obstacle detection device 10 intended to equip the mobile vehicle 1 1 parallel to a reference plane 12 comprises at least two emitters 34, 35 of electromagnetic beam capable of forming two virtual planes in two different directions which can intersect with one another. possible obstacle, at least one image sensor 5 (not shown in FIG. 1) able to produce an image of the intersection of the virtual planes and the obstacle, an image analysis means 66 (not represented on FIG. FIG. 1) able to determine the obstacle, configured to compare the image with a reference image.
• the formed virtual planes intersect the reference plane 12 and thus form a straight line. In the presence of an obstacle, the line is then deformed, and it is the deformation of the line that reveals the presence of an obstacle.
• FIG. 1 represents virtual planes 28, 29 formed by so-called oblique transmitters 34, 35.
• the device 10 comprises a first so-called oblique transmitter 34 of a first oblique beam 30 extending in a first oblique virtual plane 28 in the first direction along the X axis and secant to the reference plane 12.
• the device 10 comprises a second transmitter said oblique 35 of a second oblique beam 31 extending in a second oblique virtual plane 29 in the first direction along the X axis and secant to the reference plane 12.
• the first image sensor 5 is able to produce an image around the intersection of the oblique virtual planes 28, 29 with the reference plane 12.
• FIG. 2a a top view of a device according to the invention showing virtual planes of the beams parallel to the reference plane 12.
• the device 10 comprises a first said horizontal transmitter 14 of a first horizontal beam 15 extending in a virtual foreground 22 substantially parallel to the reference plane 12 and the first image sensor 5 capable of producing an image of the intersection of the first virtual plane 22 and the obstacle.
• the mobile vehicle 1 1 having a preferred direction of movement in the first direction along the X axis
• the first virtual plane 22 forms an angular sector around the X axis
• the device 10 further comprises a second said horizontal transmitter 1 6 of a second horizontal beam 17 extending in a second virtual plane 23 in a first direction, forming an angular sector around a Y axis perpendicular to the axis X and substantially parallel to the reference plane 12.
• the device 10 comprises a second image sensor 6 capable of producing an image of the intersection of the second virtual plane 23 and the obstacle.
• the device comprises a third said horizontal transmitter 19 of a third horizontal beam 20 extending in a third virtual plane 24 in a second direction, opposite the first direction, forming an angular sector around the axis Y and substantially parallel to the plane
• the device 10 comprises a third image sensor 7 capable of producing an image of the intersection of the third virtual plane 23 and the obstacle.
• the angular sector 22 formed by the first horizontal beam 15 is spaced from the angular sectors 23, 24 formed by the second and third horizontal beams 17, 20 of a predefined angle.
• the angular sector can be 60 ° and the predefined angle 30 °.
• the angular sector is 120 ° and the predefined angle is 0 °. This configuration allows a total coverage of the environment around the mobile vehicle 1 1.
• the first, second and third so-called horizontal emitters 14, 16, 19 are positioned on the mobile vehicle 11 at a certain height 25 of the reference plane 12 (visible in FIG. 2b).
• the height 25 may be for example 15 cm, or 10 cm. In order to detect small obstacles, the height 25 can be 5 or 3 cm.
• the virtual planes 22, 23, 24 formed respectively by the emitters 14, 1 6, 19 can intersect with an obstacle situated at a height greater than the height 25, or with an obstacle part of which is at the level of the virtual planes. 22, 23 or 24.
• the emitters 14, 1 6, 19 allow an obstacle detection that can be described as panoramic detection.
• the image sensor 5 can also be a so-called "wide-angle" image sensor which alone allows one to shoot the three virtual planes 22, 23, 24.
• FIG. 2b represents a sectional view of a device according to the invention showing the virtual plane 22 of the beam 15 substantially parallel to the reference plane 12.
• the virtual plane 22 is also valid for the virtual planes 23 and 24.
• the detection device comprises means 67 for the virtual plane 22 to always be above the reference plane 12 in a field 36 covered by the image sensor 5.
• the means 67 for the virtual plane 22 to be always above the reference plane 12 in a field 36 may be constituted by a servo loop which makes it possible to orient the beam emitter 14 so as to orient the virtual plane 22 depending on its orientation when the moving vehicle 1 1 is in motion.
• the virtual plane 22 may be made to intersect the reference plane 12.
• a gyro 68 can capture an angular position 73 the virtual plane 22 with respect to the reference plane 12.
• An analysis means 69 in the servo loop acquires this information, transmits a new angular position 74 to the transmitter 14 which is then oriented so as to position the virtual plane 22 above the reference plane 12.
• the analysis means 69 transmits to the transmitter 14 a new angular position so that the virtual plane 22 is repositioned substantially parallel to the reference plane 12.
• the positioning means are constituted by an angle 72 between the so-called horizontal virtual plane 22 and the reference plane 12.
• the virtual plane 22 can therefore be slightly oriented upwards. In other words, it forms the angle 72, positive angle, with the reference plane 12.
• the virtual plane 22 never intersects the reference plane 12, even when the moving vehicle 11 is in motion.
• the image sensor 5 is able to produce an image of the intersection of the virtual plane 22 and a possible obstacle.
• a detection surface 71 which corresponds to the intersection of the virtual plane 22 and the cone formed by the field 36 covered by the image sensor 5.
• the virtual plane 22 alone can intersect with a possible obstacle having approximately a height greater than or equal to the height 25 and can be located at infinity. Due to the positive angle 72 and the field 36 of the image sensor 5, the detection surface 71 is located near the moving vehicle 11. Detecting a possible obstacle is therefore detecting an appearance of an image at the detection surface 71.
• the oblique beams 30, 31 can intersect with smaller obstacles, holes, or larger obstacles, with which the horizontal beams 15, 17, 20 could not possibly have intersected.
• FIG. 3 represents a virtual plane 26 formed by a shovel beam 27 emitted by a shovel transmitter 32.
• the device 10 comprises the so-called shovel transmitter 32 of a shovel beam 27 extending in a virtual plane
• the first image sensor 5 is able to produce an image of the line resulting from the intersection of the virtual plane 26 and the plane
• the virtual plane 26 formed by the transmitter 32 may intersect with an obstacle situated at a height corresponding to the distance 33 between the virtual plane 26 and the reference plane 12. It may be a obstacle placed on the reference plane 12 of large size or small size. It finds a particularly interesting application for obstacles whose height is less than the height 25 between the reference plane 12 and a horizontal virtual plane. Examples of obstacles include a hole or door stopper.
• Figures 4a, 4b and 4c show an intersection of the virtual plane 26 with an obstacle according to the invention.
• the vehicle 1 1 is mobile parallel to the reference plane 12.
• the shovel transmitter 32 of the shovel is
• the virtual plane 26 is configured to intersect with the reference plane 12 along a line 70 perpendicular to the X axis, as shown in Figure 4a.
• the virtual plane 26 formed by the shovel 27 makes it possible to scan the reference plane 12.
• the image sensor 5 is able to produce an image of the line 70.
• a means of image analysis is able to determine the presence of the obstacle, the analysis means being configured to compare the image of the sensor 5 with a reference image. It is therefore a matter of projecting a line on the reference plane
• the use of the virtual plane 26 snapshot can detect, in the presence of an obstacle, a deformation of the line 70. Moreover, it is possible to memorize everything that is in the volume between the virtual plane 26 and the reference plane 12. Thus, with a use coupled to the time (that is to say to the successive positions of the mobile vehicle 1 1) and memorization, we know when there is an obstacle in the environment of the mobile vehicle 1 1. In other words, it is possible to memorize a first image and a second image at different instants of the intersection of the virtual plane 26 formed by the shovel 27 with the reference plane 12. A comparison is made between the first and the second images to define the location of the obstacle.
• the location of the obstacle can be done in a fixed reference frame or in a reference linked to the mobile vehicle 1 1. This detection and location of the obstacle can be done when the moving vehicle moves in the first direction along the X axis, but also in the opposite direction of the first direction (that is to say, in forward or running direction). back). It is then possible to slow the moving vehicle 1 1, to stop it before a collision with the obstacle or to deviate from its trajectory. Finally, in the extreme case of a disappearance of the line 70, this means that the mobile vehicle 1 1 is close to a cliff or stair step since the image sensor 5 is no longer capable of producing an image of the straight line 70 then below with respect to the reference plane 12.
• the shovel beam can be used alone, independently of other oblique and horizontal beams. Similarly, it is quite possible to use only oblique beams. Finally, it is possible to use several beams together, for example a shovel beam with a horizontal beam, a shovel beam with an oblique beam, an oblique beam with a horizontal beam or any other combination of 2 or more beams.
• the six beams 15, 17, 20, 27, 30, 31 allow the device 10 to form an intersection with virtual planes and any obstacle located in a close environment.
• FIG. 5 shows in a side view the virtual planes 28, 29 formed by the oblique beams 30, 31 as well as the field 36 covered by the image sensor 5.
• the virtual planes 28, 29 respectively formed by the beams 30, 31 can intersect with an obstacle.
• the image sensor 5 can then produce an image of the intersection of the virtual plane or planes 28, 29 with the obstacle.
• An image analysis means (not shown in the figure) is then able to determine the obstacle, configured to compare the image obtained with a reference image.
• the virtual planes 26, 28, 29 intersect the reference plane 12 (which in most cases corresponds to the ground on which the mobile vehicle 1 1 moves) and thus form a straight line.
• the line thus formed is disturbed, and it is the disturbance of the line which reveals the presence of an obstacle.
• the image sensor 5 for example a camera, is advantageously synchronized with the beam emitters, allowing the beam emitters to be active only during the exposure time of the image sensor 5 It is also necessary to take into account the difference between the instant of the decision making of the exposure (for example on the part of a processor PROC disposed in the mobile vehicle 1 1) and the moment when the sensor of image actually takes the picture.
• the device 10 comprises control means 8 configured to selectively deactivate transmitters and sensors according to the direction of moving the vehicle 1 1. This reduces the energy consumption of the device 10
• the device 10 further comprises a processing circuit 9 configured to clock beam transmissions by the transmitters and synchronize the beam emissions with the shots by the sensors.
• the beams are emitted one after the other or simultaneously according to the configuration in which the mobile vehicle 1 1 is located.
• the associated image sensor takes a picture.
• the three horizontal beams 15, 17, 20 are emitted simultaneously and the three image sensors 5, 6, 7 each produce an image.
• the first horizontal beam may be emitted before the so-called shovel beam, and the corresponding image sensor 5 is activated in a clocked manner by taking a first shot. at the same time as the emission of the horizontal beam, then a second shot at the same time as the emission of the so-called shovel beam.
• FIG. 6 represents the emitter 34 emitting the beam 30 capable of forming the virtual plane 28.
• the beam emitters are fixed on the mobile vehicle 1 1 in order to avoid having moving parts in and / or on the mobile vehicle 1 1. The attachment of the beam emitters thus offers good robustness during the transport of the mobile vehicle 1 1 and against the vibrations of a moving part.
• the beam or beams are laser beams.
• the device 10 may also have an exposure control means which may consist of a contrast enhancement algorithm between the beam light emitted and the environment.
• a control means may in particular enable the device 10 to consider only a so-called safety zone in an environment close to the mobile vehicle 11. The accuracy in the determination of the obstacle is thus improved. Since a part can not be made with strictly exact geometry and dimensions, and in order for the part to fulfill its functions in a mechanism, tolerances (dimensional, geometric) are defined. These tolerances can have an impact on the accuracy of measurements.
• the device 10 may have a mechanism for calibrating the angle of inclination of the image sensor 5 and the inclination angle of the emitters 14, 1 6, 19 of the beams 15, 17, 20. Calibration mechanism is generally implemented in a known environment and ensures a good accuracy of measurements and thus determination of the obstacle.
• FIG. 7 represents a robot 37 with a humanoid character implementing the device 10 for detecting obstacles according to the invention.
• FIG. 8 represents an example of a base 50 comprising wheels 51 for a robot with a humanoid character implementing the obstacle detection device according to the invention.
• FIG. 9 schematically represents a PROC processor providing the functions of processing and synchronizing beam transmissions and shots.
• FIG 10 schematically illustrates the steps of an obstacle detection method according to the invention.
• the detection method implements the detection device as described above. It comprises the following steps:
• the method further comprises the following steps Storing a first image of the intersection of the virtual plane (26) formed by the shovel beam (27) with the reference plane (12) (step 130),
• Figures 11a and 11b show two obstacle detection configurations.
• a single virtual plane 60 intersects with an obstacle.
• two virtual planes 65, 66 intersect each other and with an obstacle with a detection device according to the invention.
• the two configurations are present two similar obstacles 61, 62 (two cubes in the example shown): one 61 is small and close to the mobile vehicle 1 1, the second 62 is large and further away from the mobile vehicle January 1.
• the virtual plane 60 intersects with the small cube 61.
• the virtual plane 60 intersects with the large cube 62.
• An intersection 63 between the virtual plane 60 and the small cube 61 and an intersection 64 between the virtual plane 60 and the large cube 62 each form a line.
• two intersecting lines 63, 64 are perceived as identical by the image sensor.
• two virtual planes 65, 66 intersect each other and, on the one hand, the small cube 61 close to the mobile vehicle 1 1 to form an intersection line 67.
• the two virtual planes 65, 66 also intersect each other but not on the large cube 62, too far away for the intersection 68 between the two virtual planes 65, 66 to coincide with an intersection with the large cube 62.
• the mobile vehicle 1 1 After determining the obstacle (step 120), it is possible for the mobile vehicle 1 1 to make a new action. For example, a navigation action with a change of trajectory or a stop.
• the device 10 according to the invention may also have a library reference images. These reference images correspond to predefined images making it possible, in addition to obstacle detection, to recognize the obstacles by comparing the image produced by the image sensor 5 with the reference images. The image analysis thus carried out can in particular enable the mobile vehicle 1 1 to recognize its charging base and to go there to recharge its battery.
• FIG. 12 schematically illustrates a profile view of the device 10 according to the invention showing the horizontal virtual planes (only the plane 22 is represented), oblique 28, 29 and the excavator 26.
• the location of the obstacle is communicated in Cartesian coordinates in the coordinate system containing the X and Y axes. This allows compression of the transmitted information.

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• Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• Electromagnetism (AREA)
• General Physics & Mathematics (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Computer Networks & Wireless Communication (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Optical Radar Systems And Details Thereof (AREA)
• Manipulator (AREA)
• Traffic Control Systems (AREA)
• Geophysics And Detection Of Objects (AREA)
• Radar Systems Or Details Thereof (AREA)
• Optics & Photonics (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Multimedia (AREA)
• Aviation & Aerospace Engineering (AREA)
• Automation & Control Theory (AREA)

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• 2014
  • 2014-06-05 FR FR1455099A patent/FR3022037B1/fr not_active Expired - Fee Related
• 2015
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  • 2015-06-02 MX MX2016015829A patent/MX359304B/es active IP Right Grant
  • 2015-06-02 JP JP2016571011A patent/JP2017518579A/ja active Pending
  • 2015-06-02 WO PCT/EP2015/062214 patent/WO2015185532A1/fr active Application Filing
  • 2015-06-02 CN CN201580030059.8A patent/CN106687821A/zh active Pending
  • 2015-06-02 EP EP15726152.0A patent/EP3152592A1/fr not_active Withdrawn
  • 2015-06-02 KR KR1020177000001A patent/KR20170027767A/ko not_active Ceased
  • 2015-06-02 RU RU2016151213A patent/RU2650098C1/ru not_active IP Right Cessation
  • 2015-06-02 CA CA2953268A patent/CA2953268A1/en not_active Abandoned
  • 2015-06-02 US US15/311,089 patent/US20170082751A1/en not_active Abandoned
  • 2015-06-02 BR BR112016028247A patent/BR112016028247A2/pt not_active Application Discontinuation
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