3D OPTICAL DETECTION SYSTEM AND METHOD FOR A MOBILE STORAGE SYSTEM

• US 20130083316A1
• Filed: 07/15/2011
• Published: 04/04/2013
• Est. Priority Date: 07/23/2010
• Status: Active Grant

• Current Assignee: LeddarTech, Inc.
• Original Assignee: LeddarTech, Inc.
• Inventors: Mimeault, Yvan, Perreault, Louis
• Granted Patent: US 8,823,951 B2
• Time in Patent Office: Days
• US Class Current: 356/73
• CPC Class Codes: A47B 53/02 Cabinet systems, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01J 1/16 using electric radiation detectors G01J1/20 takes precedence
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01V 8/20 using multiple transmitters or receivers

Abstract

A mobile storage having a mobile storage unit having a detection side; an opposing component having an aisle side facing the detection side; the mobile storage unit being movable between a closed position and an open position wherein an aisle is defined; at least one detection module having an optical pulse emitter and an optical detector both provided at an end, facing the aisle, the optical pulse emitter emitting a light pulse, the optical detector detecting a reflection of the light pulse. An object detection method for a mobile storage comprising comparing a temporal reflection signal to a background temporal reflection signal to detect the presence of an object; and indicating a status of the aisle to be presence of an object if the object is detected to be present.

Claims

1. A mobile storage comprising:

a mobile storage unit extending along a longitudinal axis, having a detection side;

an opposing component extending substantially parallel to the longitudinal axis, having an aisle side facing the detection side of the mobile storage unit, the opposing component being one of a wall, a second mobile storage unit and a stationary storage unit;

the mobile storage unit being movable between a closed position wherein the detection side of the mobile storage unit and the aisle side of the opposing component are juxtaposed and an open position wherein the mobile storage unit and the opposing component are spaced-apart and a longitudinally extending aisle is defined therebetween;

the mobile storage having at least one detection module having an optical pulse emitter and an optical detector both provided at an end of one of the detection side of the mobile storage unit and the aisle side of the opposing component, facing the aisle, the optical pulse emitter emitting a light pulse in a field-of-illumination, the optical detector detecting a reflection of the light pulse in a field-of-view, the field-of-illumination and the field-of-view being adapted to at least partly overlap and to cover at least a portion of a width of the aisle.

2. The mobile storage of claim 1, wherein the end is a longitudinal end, wherein the optical detector is facing the aisle from a longitudinal end of the aisle and wherein the field-of-illumination and the field-of-view are adapted to cover at least a portion of a length of the aisle.

3. The mobile storage of claim 1, wherein the end is one of a top and a bottom end, wherein the optical detector is facing the aisle from one of a top and a bottom end of the aisle wherein the field-of-illumination and the field-of-view are adapted to cover at least a portion of a height of the aisle.

4. The mobile storage of claim 1, wherein at least one of the field-of-illumination and the field of view is adjusted to begin along the longitudinal axis.

5. The mobile storage of claim 4, wherein at least one of the field-of-illumination and the field of view has a span of 90 degrees.

6. The mobile storage of claim 1, wherein the mobile storage further comprises

a control unit having a receiver for receiving a temporal reflection signal from the optical detector;

a memory for storing the temporal reflection signal and a background temporal reflection signal;

a processor having a signal analyzer for comparing the temporal reflection signal to the background temporal reflection signal to detect the presence of an object in the temporal reflection signal and indicating a status of the aisle to be presence of an object if the object is detected to be present.

7. The mobile storage of claim 1, wherein the at least one detection module is two detection modules, a first one of the two detection modules being provided at a first end of the detection side of the mobile storage unit and a second one of the two detection modules being provided at a second end of the aisle side of the opposing component, the first end and the second end being at longitudinally opposed ends of the aisle.

8. The mobile storage of claim 7, at least one of the field-of-illumination and the field-of-view has a span of less than 45 degrees.

9. The mobile storage of claim 7, wherein each receiver of said two detection modules receives a respective temporal reflection signal;

the memory stores the two temporal reflection signals;

the signal analyzer compares and indicates for each temporal reflection signal of the two temporal reflection signals;

wherein the processor further comprises a status determiner for determining a status of the aisle to be occupied if at least one of the status is the presence of an object and for determining a status of the aisle to be empty if both of the status is the absence of an object.

10. The mobile storage of claim 7, wherein the aisle side and the detection side both include an additional detection module spaced apart longitudinally from the first detection module.

11. The mobile storage of claim 1, wherein the field-of-view of the optical detector has a plurality of channels, the optical detector being adapted to detect the light in each channel and create a separate signal for each of the channels.

12. The mobile storage of claim 1, wherein the optical pulse emitter emits one of visible light and invisible light.

13. The mobile storage of claim 1, wherein the optical pulse emitter is a Light-Emitting-Diode.

14. The mobile storage of claim 13, wherein the Light-Emitting-Diode comprises a diffuser.

15. The mobile storage of claim 1, wherein the optical pulse emitter is provided on a scanning mechanism which allows the pulse emitter to emit light pulses in the full span of the field-of-illumination.

16. The mobile storage of claim 1, wherein the mobile storage further comprises a retroreflector provided at a detection boundary on at least one of the mobile storage unit and the opposing component, the retroreflector strongly reflecting the light emitted by the optical pulse emitter toward the optical detector.

17. The mobile storage of claim 1, wherein the system further comprises a drive arrangement for movement of the at least one first mobile storage unit, along a path, one of toward and away from the opposing component, to open and close the aisle.

18. The mobile storage of claim 17, wherein the system further comprises a controller for the drive arrangement controlling the movement of the first mobile storage unit.

19. The mobile storage of claim 18, wherein the system further comprises a user input switch for the controller for activating the drive arrangement for movement of the first mobile storage unit.

20. The mobile storage of claim 1, wherein the control unit further comprises an alarm generator for generating an alarm if the status determiner determines the status of the aisle to be occupied.

21. The mobile storage of claim 20, wherein the system further comprises a visual status indicator for indicating the status of the aisle based on the alarm.

22. The mobile storage of claim 18, wherein the control unit further comprises an alarm generator for generating an alarm if the status determiner determines the status of the aisle to be occupied, the controller blocking movement of the mobile storage unit based on the alarm.

23. An object detection method for a mobile storage comprising receiving a temporal reflection signal from an optical detector;

storing the temporal reflection signal;

retrieving a background temporal reflection signal;

comparing the temporal reflection signal to the background temporal reflection signal to detect the presence of an object in the temporal reflection signal;

indicating a status of the aisle to be presence of an object if the object is detected to be present.

25. The object detection method of claim 23,

wherein the at least one detection module is two detection modules;

wherein the receiving the temporal reflection signal from the optical detector is receiving two temporal reflection signals, one temporal reflection signal from each optical detector of the two detection modules;

wherein the storing the temporal reflection signal is storing the two temporal reflection signals;

the method further comprising;

carrying the steps of comparing and indicating for each temporal reflection signal of the two temporal reflection signals;

determining a status of the aisle to be occupied if at least one of the status is the presence of an object and for determining a status of the aisle to be empty if both of the status is the absence of an object.

26. The object detection method of claim 23, wherein the temporal reflection signal is a collection of temporal reflection signals from a plurality of channels of the optical detector.

27. The object detection method of claim 26, wherein the temporal reflection signals of the collection are combined to obtain an overall temporal reflection signal, the step of comparing carrying out the comparison on the overall temporal reflection signal.

28. The object detection method of claim 26, wherein the background temporal reflection signal including a plurality of background temporal reflection signals each corresponding to a specific detection channel, the step of comparing carrying out the comparison using each background temporal reflection signal and a corresponding one of the collection specified for a same detection channel.

29. The object detection method of claim 23, wherein the mobile storage unit has a retroreflector provided at a boundary of a detection zone for the detection module, the method further comprising detecting a presence of a reflection from the retroreflector in the temporal reflection signal.

30. The object detection method of claim 23, wherein the method further comprises

receiving an indication that no object is present in the aisle;

triggering the detection module to acquire the background temporal reflection signal;

receiving the background temporal reflection signal, the background temporal reflection signal being acquired while no object is present in the aisle;

storing the background temporal reflection signal.

31. The object detection method of claim 23, wherein the method further comprises

if said status was indicated as being presence of said object,

retrieving said stored temporal reflection signal;

obtaining position information about a position of said object;

receiving a second temporal reflection signal from the optical detector;

storing the second temporal reflection signal;

comparing the second temporal reflection signal to the background temporal reflection signal and to the retrieved stored temporal reflection signal using said position information to detect at least one of the presence of said object and at least one of the presence of a newly detected object in the second temporal reflection signal;

indicating a status of the aisle to be presence of an object if at least one of said object and the newly detected object is detected to be present.

32. The object detection method of claim 23, wherein the method further comprises if said status was indicated as being presence of said object, obtaining position information about a position of said object.

24. An object detection method for a mobile storage having a mobile storage unit extending along a longitudinal axis, having a detection side;

an opposing component extending substantially parallel to the longitudinal axis, having an aisle side facing the detection side of the mobile storage unit;

the mobile storage unit being movable between a closed position wherein the detection side of the mobile storage unit and the aisle side of the opposing component are juxtaposed and an open position wherein the mobile storage unit and the opposing component are spaced-apart and a longitudinally extending aisle is defined therebetween;

the mobile storage having at least one detection module having an optical pulse emitter and an optical detector both provided at an end of one of the detection side of the mobile storage unit and the aisle side of the opposing component, facing the aisle, the optical pulse emitter emitting a light pulse in a field-of-illumination, the optical detector detecting a reflection of the light pulse in a field-of-view, the field-of-illumination and the field-of-view being adapted to at least partly overlap and to cover at least a portion of a width of the aisle, the method comprising;

receiving a temporal reflection signal from the optical detector;

storing the temporal reflection signal;

retrieving a background temporal reflection signal;

comparing the temporal reflection signal to the background temporal reflection signal to detect the presence of an object in the temporal reflection signal;

indicating a status of the aisle to be presence of an object if the object is detected to be present.