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MX359304B - Dispositivo de deteccion de obstaculos en un plano horizontal y metodo de deteccion que implementa un dispositivo de este tipo. - Google Patents

Dispositivo de deteccion de obstaculos en un plano horizontal y metodo de deteccion que implementa un dispositivo de este tipo.

Info

Publication number
MX359304B
MX359304B MX2016015829A MX2016015829A MX359304B MX 359304 B MX359304 B MX 359304B MX 2016015829 A MX2016015829 A MX 2016015829A MX 2016015829 A MX2016015829 A MX 2016015829A MX 359304 B MX359304 B MX 359304B
Authority
MX
Mexico
Prior art keywords
detection
method implementing
obstacles
horizontal plane
detection method
Prior art date
Application number
MX2016015829A
Other languages
English (en)
Other versions
MX2016015829A (es
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 MX2016015829A publication Critical patent/MX2016015829A/es
Publication of MX359304B publication Critical patent/MX359304B/es

Links

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

Landscapes

  • 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)
  • Radar Systems Or Details Thereof (AREA)
  • Manipulator (AREA)
  • Traffic Control Systems (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)

Abstract

La invención se refiere a un dispositivo de detección (10) de obstáculos destinado a instalarse en un vehículo móvil (11) paralelamente a un plano de referencia (12), caracterizado por que comprende: un primer emisor denominado horizontal (14) de un primer haz horizontal (15) electromagnético que se extiende en un primer plano virtual (22) sensiblemente paralelo al plano de referencia (12), un primer sensor de imagen (5) capaz de cubrir un campo (36) destinado a intersecarse con el primer plano virtual (22) para formar una superficie (71) de detección, un medio de análisis de imagen capaz de determinar la presencia de un obstáculo por detección de una presencia de una imagen en la superficie (71) de detección. La invención se refiere también a un método de detección que implementa un dispositivo de este tipo.
MX2016015829A 2014-06-05 2015-06-02 Dispositivo de deteccion de obstaculos en un plano horizontal y metodo de deteccion que implementa un dispositivo de este tipo. MX359304B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1455099A FR3022037B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif
PCT/EP2015/062214 WO2015185532A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Publications (2)

Publication Number Publication Date
MX2016015829A MX2016015829A (es) 2017-06-28
MX359304B true MX359304B (es) 2018-09-24

Family

ID=51485656

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016015829A MX359304B (es) 2014-06-05 2015-06-02 Dispositivo de deteccion de obstaculos en un plano horizontal y metodo de deteccion que implementa un dispositivo de este tipo.

Country Status (13)

Country Link
US (1) US20170082751A1 (es)
EP (1) EP3152592A1 (es)
JP (1) JP2017518579A (es)
KR (1) KR20170027767A (es)
CN (1) CN106687821A (es)
AU (1) AU2015270607B2 (es)
BR (1) BR112016028247A2 (es)
CA (1) CA2953268A1 (es)
FR (1) FR3022037B1 (es)
MX (1) MX359304B (es)
RU (1) RU2650098C1 (es)
SG (1) SG11201609557VA (es)
WO (1) WO2015185532A1 (es)

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CN115328158A (zh) 2016-08-26 2022-11-11 克朗设备公司 物料搬运车辆中的多场扫描工具
CA3224047A1 (en) 2016-08-26 2018-03-01 Crown Equipment Corporation Materials handling vehicle path validation and dynamic path modification
AU2017315461B2 (en) 2016-08-26 2021-12-23 Crown Equipment Corporation Materials handling vehicle obstacle scanning tools
US11774549B2 (en) 2018-01-18 2023-10-03 Sew-Eurodrive Gmbh & Co. Kg Mobile part having at least one module, and method for operating a mobile part
CN111596651B (zh) * 2019-02-19 2022-08-09 科沃斯机器人股份有限公司 环境区域划分与定点清扫方法、设备及存储介质
CN109991983B (zh) * 2019-04-10 2020-12-01 拉扎斯网络科技（上海）有限公司 机器人导航方法、装置、系统、电子设备及存储介质
CN112198527B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备
CN112198529B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备

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JPS59135511A (ja) * 1983-01-24 1984-08-03 Komatsu Ltd 光学式障害物検出装置
US5040116A (en) * 1988-09-06 1991-08-13 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US4954962A (en) * 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
JPH05257533A (ja) * 1992-03-12 1993-10-08 Tokimec Inc 移動ロボットの床面掃引方法及び装置
US7209221B2 (en) * 1994-05-23 2007-04-24 Automotive Technologies International, Inc. Method for obtaining and displaying information about objects in a vehicular blind spot
US6173215B1 (en) * 1997-12-19 2001-01-09 Caterpillar Inc. Method for determining a desired response to detection of an obstacle
RU2143708C1 (ru) * 1998-12-25 1999-12-27 Коночкин Анатолий Иванович Способ формирования радиолокационного изображения объекта и устройство формирования радиолокационного изображения
US6496754B2 (en) * 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
FR2820216B1 (fr) * 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
WO2003093857A2 (en) * 2002-05-03 2003-11-13 Donnelly Corporation Object detection system for vehicle
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JP4995458B2 (ja) * 2005-12-12 2012-08-08 本田技研工業株式会社 脚式移動ロボット
JP2008039745A (ja) * 2006-08-10 2008-02-21 Nissan Motor Co Ltd キャリブレーション方法およびキャリブレーション装置
KR101461185B1 (ko) * 2007-11-09 2014-11-14 삼성전자 주식회사 스트럭쳐드 라이트를 이용한 3차원 맵 생성 장치 및 방법
DE102008014912B4 (de) * 2008-03-19 2023-01-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
JP2010076527A (ja) * 2008-09-25 2010-04-08 Sanyo Electric Co Ltd 操縦支援装置
JP5247494B2 (ja) * 2009-01-22 2013-07-24 パナソニック株式会社 自律移動装置
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Also Published As

Publication number Publication date
FR3022037B1 (fr) 2017-12-01
MX2016015829A (es) 2017-06-28
JP2017518579A (ja) 2017-07-06
SG11201609557VA (en) 2016-12-29
BR112016028247A2 (pt) 2017-08-22
EP3152592A1 (fr) 2017-04-12
RU2650098C1 (ru) 2018-04-06
CA2953268A1 (en) 2015-12-10
US20170082751A1 (en) 2017-03-23
CN106687821A (zh) 2017-05-17
WO2015185532A1 (fr) 2015-12-10
AU2015270607B2 (en) 2018-01-04
AU2015270607A1 (en) 2016-12-01
FR3022037A1 (fr) 2015-12-11
KR20170027767A (ko) 2017-03-10

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