Method and device for obstacle detection and distance measurement by infrared radiation

• US 20040088079A1
• Filed: 11/14/2003
• Published: 05/06/2004
• Est. Priority Date: 01/26/2001
• Status: Abandoned Application

• Current Assignee: Wany, S.A.
• Original Assignee: Wany, S.A.
• Inventors: Tremel, Laurent, Lavarec, Erwan
• Application Number:
  US10/470,235
• Publication Number:
  US 20040088079A1
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

The invention concerns a method for measuring distance between a first object (1) and a second object (2) which consists in: a) emitting an infrared wave radiation (3) from an emitter (4) fixed on the first object (1), said radiation (3) being emitted towards said second object (2); and b) detecting the return of said radiation after it has been reflected by said second object (2) on a receiver (5) fixed on said first object (1) proximate to said emitter (4). The inventive method is characterized in that it consists in: 1/gradually varying the power of the infrared radiation emitted by said emitter (1) until it reaches a detection power (Ps) corresponding to the power of the wave emitted as from which the radiation reflected by said second object is detected by said receiver; and 2/calculating the distance (D) between said first object (1) and said second object (2) from the value of said detection power, by establishing an equating correlation between said distance (D) and said detection power. The invention also concerns a device for detection and distance measurements.

Claims

1. Method for the detection and measurement of the distance between a first object (1) and a second object (2), the said method being such that it includes the following steps:

a) The step of emitting an infrared radiation (3) from an emitter (4) affixed to the said first object (1) and fed by an electric emission signal, and

b) the step of detecting the return of the said infrared radiation to a receiver (5), after the said infrared radiation has been reflected by the said second object (2);

the said receiver (5) being affixed to the said first object (1) close to the said emitter (4) and producing an electrical signal of reception;

the said process being characterized in that it furthermore includes the following steps;

c) the step of gradually varying the infrared radiation power emitted by the said emitter (4) by controlling the said electrical emission signal, until the power of the infrared radiation emitted attains a detection power (PS) such that, for this detection power (PS) the infrared radiation is detected by the said receiver (5) after reflection by the second object,

d) the step of calculating the distance (D) between the said first object (1) and the said second object (2) starting out from the value of the said detection power (PS), by establishing a correlation, particularly by calibration, between the said distance (D) and the said detection power.

2. Method according to claim 1, the said method being such that the said infrared radiation is emitted in a specific mode containing a signature characteristic of the said emitter (4).

3. Method according to claim 2, the said method being such that the said signature is characterized by the specific mode of emission of the said emitter (4), particularly by a mode of pulsed emission having a given pulsation frequency.

4. Method according to either one of claims 2 or 3, the said method being such that the said signature is a digital signature, particularly a digital signature associated with a pulsed mode of emission.

5. Method according to claim 4, the said electrical emission signal being a square-wave signal, the said method being such that the digital signature of the said infrared radiation appears in the form of a logical signal composed of (“

1”

) or of (“

0”

) according to whether the emitter is or is not fed by the said square-wave signal.

6. Method according to any one of claims 2 to 5, the said method being such that to determine whether a reflected infrared radiation received by a receiver (5) from a particular object (1) originates from an emitter (4) situate on the said determinate object, the said signature is verified such that it is possible to discriminate between the reflected-infrared radiation coming from the emitter (4) on the said determinate object (1) and the infrared rays coming directly or indirectly from other objects.

7. Method according to claim 6, the-said method being such that, to verify the said digital signature, the electrical signal powering the emitter (4) of the said determinate object (1) is compared with the electrical signal provided by the receiver (5) on the same said determinate object (1).

8. Method according to any one of claims 1 to 7, the said method being furthermore more particularly designed to determine the position of one or more second objects (2) in relation to a frame of reference bound to the said first object (1), the said method furthermore containing the following step:

the step of emitting from the said first object (1) infrared rays in several directions appropriately distributed about the said first object, preferably in at least four directions, preferably also in at least three directions,

the said infrared rays associated with each direction being emitted in cones whose apex angle is between 5 and 90°

,

such that the said second objects (2) situated in the vicinity of the said first object (1) are detected and that their positions in relation to a frame of reference tied to the first object (1) can be calculated.

22. Application of the method and of the device according to any one of claims 1 to 20 to the detection and to the avoidance of an obstacle by a vehicle, particularly a robot:

the said vehicle corresponding to the said first object (1),

the said obstacle corresponding to the said second object (2),

such that;

if one or more obstacles are in the vicinity of the said vehicle,

if the said vehicle moves in a direction coinciding with the one in which the said obstacle is situated,

if the distance measured between the said vehicle and the said obstacle is less than a determinate value, particularly according to the speed of movement of the said vehicle,

the said vehicle programs a change of course, taking into account other obstacles situated in the vicinity.

9. Method for detection and measurement of distance between a first object (1) and a second object (2), the said device containing:

an emitter (4) of infrared radiation affixed to the said first object (1) and supplied with an electrical emission signal,

a receiver (5) detecting the return of the said infrared radiation after the said infrared radiation has been reflected by the said second object (2);

the said receiver (5) being affixed to the said first object (1) close to the said emitter (4) and producing an electrical signal of reception;

the said device being characterized in that it includes;

1/means of control (8) of the said electrical signal enabling the gradual variation of the power of the infrared radiation emitted by the said emitter (4), by controlling the said electrical emission signal until the power of the infrared radiation emitted attains a power of detection (PS) such that, for this power of detection (PS) the infrared radiation is detected by the said receiver (5) after reflection by the said second object (2),

2/means for calculation (9) of the distance (D) between the said first object (1) and the said second object (2), setting out from the value of the said detection power (PS), utilizing correlations previously established particularly by calibration, between the said distance (D) and the said detection power (PS).

10. Device according to claim 9, the said device being such that:

the said emitter (4) includes an electroluminescent diode emitting specifically at a given infrared wavelength,

the said receiver (5) includes a phototransistor or photodiode detecting specifically the said given infrared wavelength.

11. Device according to either one of claims 9 or 10, the said means of control (8) of the said electrical signal permitting the gradual variation of the power of the infrared radiation emitted by the said emitter (4), containing a first processor (8) controlling the said electrical emission signal such that the said infrared radiation is emitted in a specific mode containing a signature.

12. Device according to claim 11, the said first processor (8) being programmed such that the specific mode of emission of the said emitter (4) is a pulsed mode of emission having a given pulsation frequency characterizing the said signature.

13. Device according to either one of claims 11 or 12, the said first processor (8) controlling the said electrical emission signal being programmed such that the specific mode of emission of said emitter (4) is a pulsed mode of emission containing a digital signature.

14. Device according to claim 13, the said first processor (8) being programmed such that the said electrical emission signal is a square-wave signal and that the said digital signature of the said infrared radiation appears in the form of a logical signal composed of (“

1”

) or (“

0”

) according to whether the emitter is or is not fed the said square-wave signal.

15. Device according to any one of claims 11 to 14, the said device being such that, to determine whether a reflected infrared ray received by a receiver (5) from a particular object (1) originates from an emitter (4) situated on the said determinate object, the said first processor (8) contains means of verification of the said signature, so that it is possible to discriminate between the reflected infrared radiation coming from the emitter (4) of the said determinate object (1) and the infrared rays originating directly or indirectly from other objects.

16. Device according to claim 15, the said means of verification of the said signature containing means for comparing the electric signal supply signal of the emitter (4) of the said determinate object (1) with the electric signal given by the receiver (5) from the same said determinate object (1).

17. Device according to anyone of claims 11 to 16, the said device being such that:

by a digital signal on n bits, the said first processor (8) controls through field effect transistors n resistances of different values mounted on the electric power supply of the said emitter (4) such that the power of the infrared radiation emitted by the said emitter (4), particularly by an electroluminescent diode, can assume 2ⁿ increasing values,

the said first processor (8), connected to the receiver (5), verifies that the electrical signal given by the receiver (5) contains the same signature, particularly the said digital signal,

the said first processor (8) transmits to a second processor (9) a signal formed on n bits indicating, among the 2ⁿ possible values of the said detection power (PS), the one which it has found,

the said second processor (9) computes the distance between the first object (1) and the second object (2) by correlation from a calibration of the 2ⁿ possible values of distance in relation to the 2ⁿ detection power values.

18. Device according to claim 17, the said device being such that the said emitter (4), particularly an emitting diode, is capable of emitting a given maximum radiation power P1 and the said receiver (5), particularly a receiving diode, is capable of detecting a given minimum radiation power P2, the values of P1 being such that it is possible to measure distances between 0.5 m and 5 m, and more preferably between 0.1 m and 10 m.

19. Device according to either of claims 17 or 18, the number of detection power steps and the number n of resistances of different values Ri with i=t to n being such that the precision of measurement, consisting in the separation between the said 2ⁿ possible consecutive distances it at least 10 cm, preferably at least 1 cm.

20. Device according to any one of claims 9 to 17, the said device being furthermore more particularly designed to determine the position of one or more second objects (2) with respect to a frame of reference bound to the said first object (1), the said device furthermore including:

a plurality of emitters (4) and receivers (5) emitting and receiving infrared rays in a plurality of directions distributed in an appropriate manner around the said first object (1), preferably in at least four directions, and more preferably in at least eight directions,

said infrared rays associated with each direction being emitted in cones whose apex angle is between 5 and 90°

,

such that the said second objects (2) situated in the vicinity of the said first object (1) are detected and their positions with respect to a frame of reference connected with the first object (1) can be calculated.

21. Mobile robot detecting and avoiding obstacles, the said mobile robot containing means of displacement controlled by a control means including a device according to any one of claims 9 to 20, such that:

if one or more obstacles are in the vicinity of the said mobile robot,

if the said mobile robot moves in a direction coinciding with that in which the said obstacle is situated,

if the distance measured between the said mobile robot and the said obstacle is below a particular value, particularly in relation to the speed of movement of the said mobile robot,

the said device programs a change of path while taking into account other obstacles situated in the vicinity.

24. Vehicle according to claim 21 or 23 which contains:

a common line for supplying a plurality of said infrared emitters,

a plurality of branches inserted into the said common supply line, each branch having a resistor (R1 to R4) and containing a switch (Q1 to Q4), the said branches being connected in parallel,

means (8) adapted to deliver to the switches (Q1 to Q4) an opening or closing digital command, such as to cause the current delivered to the emitters to vary.

23. Vehicle (1), characterized in that it includes:

at least two infrared pickups fixedly mounted on the said vehicle, each pickup containing an emitter able to emit infrared radiation in a first portion of the space surrounding the vehicle, and containing a receiver sensitive to any infrared radiation received from a second portion of the space surrounding the vehicle,

electronic means (8) of control of the power fed to the emitter, adapted to vary, regularly and cyclically, the power of the current supplied to the emitter so as to bring about a step-by-step increase of the radiation emitted by the emitter of each pickup,

electronic means (9) for detection of an obstacle and/or for measurement of a distance (D) separating the vehicle from an object (2), setting out on the one hand from signals delivered by the said receivers from the said pickups, and on the other hand from signals or data delivered by the said electronic means (8) for controlling the power supplied to the emitter of the pickups.