Movement control system
First Claim
1. A movement control system comprising at least one three-dimensional imaging apparatus adapted to image an environment and a processor for analysing the image so at to create a model of the environment and generate a movement control signal based on the created model wherein the three-dimensional imaging apparatus comprises an illumination means for illuminating a scene with a projected two dimensional array of light spots, a detector for detecting the location of spots in the scene and a spot processor adapted to determine, from the detected location of a spot in the scene, the range to that spot.
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Abstract
The present invention relates to a movement control system which can be used to control moving platforms such as vehicles or robotic arms. It especially applies to a driving aid for vehicles and to a parking aid capable of self-parking a vehicle.
A three-dimensional camera (12) is located on the platform, say a car (102) and arranged to view (114) the environment around the platform. A processor (7) uses the three-dimensional information to create a model of the environment which is used to generate a movement control signal. Preferably the platform moves relative to the environment and acquires a plurality of images of the environment from different positions.
194 Citations
30 Claims
- 1. A movement control system comprising at least one three-dimensional imaging apparatus adapted to image an environment and a processor for analysing the image so at to create a model of the environment and generate a movement control signal based on the created model wherein the three-dimensional imaging apparatus comprises an illumination means for illuminating a scene with a projected two dimensional array of light spots, a detector for detecting the location of spots in the scene and a spot processor adapted to determine, from the detected location of a spot in the scene, the range to that spot.
- 12. A vehicle positioning system comprising a three-dimensional imaging apparatus arranged acquire a plurality of three dimensional images of a target area as the vehicle passes the target area and a processor adapted to process the images from the different positions so as to create the model of the environment in relation to the vehicle and determine how to position the vehicle with respect to the target area.
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18. A docking control system for a moveable platform comprising a three-dimensional imaging apparatus arranged acquire three dimensional images of an environment from a plurality of different positions and a processor adapted to process the images from the different positions so as to create the model of the environment in relation to the moveable platform and provide a control signal to a drive means of the moveable platform so as to dock the moveable platform with the environment.
- 20. A robotic arm control unit comprising a three-dimensional imaging apparatus arranged acquire three dimensional images of an environment from a plurality of different positions and a processor adapted to process the images from the different positions so as to create the model of the environment in relation to the robotic arm and provide a control signal to a drive means of the robotic arm to either engage an object or accurately place an object.
- 25. A movement control system for a vehicle operable in two modes, a movement mode in which a proximity sensor operates to detect any objects within the path of the vehicle, and an interaction mode in which a three dimensional ranging apparatus determines range information about a target area to form a model of the target area.
Specification