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MX2016015830A - Dispositivo de detección de un obstáculo mediante planos cruzados y método de detección que pone en práctica dicho dispositivo. - Google Patents

Dispositivo de detección de un obstáculo mediante planos cruzados y método de detección que pone en práctica dicho dispositivo.

Info

Publication number
MX2016015830A
MX2016015830A MX2016015830A MX2016015830A MX2016015830A MX 2016015830 A MX2016015830 A MX 2016015830A MX 2016015830 A MX2016015830 A MX 2016015830A MX 2016015830 A MX2016015830 A MX 2016015830A MX 2016015830 A MX2016015830 A MX 2016015830A
Authority
MX
Mexico
Prior art keywords
obstacle
image
detection method
detecting
intersecting planes
Prior art date
Application number
MX2016015830A
Other languages
English (en)
Inventor
CLERC Vincent
Maisonnier Bruno
Garcia Nicolas
ZIEGLER Jörg
Original Assignee
Softbank Robotics Europe
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Softbank Robotics Europe filed Critical Softbank Robotics Europe
Publication of MX2016015830A publication Critical patent/MX2016015830A/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • 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
    • 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
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • 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
    • 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

Landscapes

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

Abstract

La invención se refiere a un dispositivo de detección (10) de obstáculos destinado a equipar un vehículo móvil (11) de forma paralela a un plano de referencia (12). Según la invención, el dispositivo (10) comprende: al menos dos emisores (14, 16, 19, 32, 34, 35) de haz electromagnético (15,17,20,27,30,31) capaces de formar dos planos virtuales (22,23,24,26,28,29) en dos direcciones diferentes que pueden intersecarse entre si y con un eventual obstáculo; al menos un sensor de imagen 85,6,7) capaz de producir una imagen de la intersección de los planos virtuales (22,23,24,26,28,29) y del eventual obstáculo; un medio de análisis de imagen capaz de determinar la presencia de un obstáculo, configurado para comparar la imagen con una imagen de referencia. La invención se refiere igualmente a un método de detección que pone en práctica dicho dispositivo.
MX2016015830A 2014-06-05 2015-06-05 Dispositivo de detección de un obstáculo mediante planos cruzados y método de detección que pone en práctica dicho dispositivo. MX2016015830A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1455098A FR3022036B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plans croises d'un obstacle et procede de detection mettant en oeuvre un tel dispositif
PCT/EP2015/062622 WO2015185749A1 (fr) 2014-06-05 2015-06-05 Dispositif de detection a plans croises d'un obstacle et procede de detection mettant en oeuvre un tel dispositif

Publications (1)

Publication Number Publication Date
MX2016015830A true MX2016015830A (es) 2017-06-28

Family

ID=51485655

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016015830A MX2016015830A (es) 2014-06-05 2015-06-05 Dispositivo de detección de un obstáculo mediante planos cruzados y método de detección que pone en práctica dicho dispositivo.

Country Status (14)

Country Link
US (1) US10481270B2 (es)
EP (1) EP3152593B1 (es)
JP (1) JP6392903B2 (es)
KR (1) KR101951573B1 (es)
CN (1) CN106537185B (es)
AU (1) AU2015270385B2 (es)
BR (1) BR112016028353A2 (es)
CA (1) CA2951170C (es)
FR (1) FR3022036B1 (es)
MX (1) MX2016015830A (es)
NZ (1) NZ726300A (es)
RU (1) RU2669200C2 (es)
SG (1) SG11201609423QA (es)
WO (1) WO2015185749A1 (es)

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EP3680180B1 (en) * 2019-01-08 2021-06-02 AIRBUS HELICOPTERS DEUTSCHLAND GmbH An aircraft with a safety distance display apparatus
WO2020155863A1 (zh) * 2019-02-03 2020-08-06 苏州宝时得电动工具有限公司 一种自移动设备，其障碍检测方法及障碍检测模块
US11333767B2 (en) 2019-04-03 2022-05-17 Caterpillar Inc. Avoidance modifier system for collision avoidance system
CN110308721B (zh) * 2019-06-16 2024-05-07 宁波祈禧智能科技股份有限公司 一种用于限定室外移动机器人工作区域的光电围栏
US11597104B2 (en) * 2019-07-31 2023-03-07 X Development Llc Mobile robot sensor configuration
CN110988903B (zh) * 2019-12-26 2021-12-21 广州市慧建科技有限公司 一种激光面扫描目标定位系统及方法
CN112034847B (zh) * 2020-08-13 2021-04-13 广州仿真机器人有限公司 具有双行走模式的分体式仿真机器人的避障方法和装置
DE102022126502A1 (de) * 2022-10-12 2024-04-18 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben einer Produktionsvorrichtung

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Also Published As

Publication number Publication date
CA2951170C (en) 2019-02-12
CN106537185B (zh) 2020-02-14
RU2669200C2 (ru) 2018-10-09
EP3152593B1 (fr) 2020-07-22
AU2015270385A1 (en) 2016-12-01
JP2017527776A (ja) 2017-09-21
CN106537185A (zh) 2017-03-22
SG11201609423QA (en) 2016-12-29
FR3022036A1 (fr) 2015-12-11
EP3152593A1 (fr) 2017-04-12
CA2951170A1 (en) 2015-12-10
AU2015270385B2 (en) 2017-08-31
US10481270B2 (en) 2019-11-19
FR3022036B1 (fr) 2016-07-15
RU2016151183A3 (es) 2018-07-10
NZ726300A (en) 2017-10-27
BR112016028353A2 (pt) 2017-08-22
RU2016151183A (ru) 2018-07-10
JP6392903B2 (ja) 2018-09-19
WO2015185749A1 (fr) 2015-12-10
KR20170020419A (ko) 2017-02-22
KR101951573B1 (ko) 2019-02-22
US20170074984A1 (en) 2017-03-16

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