METHOD AND SYSTEM FOR PROVIDING A MOBILE DEVICE WITH INFORMATION ON THE POSITION THEREOF RELATIVE TO A TARGET, ROBOT INTEGRATING SUCH A SYSTEM AND TABLET

• US 20150378022A1
• Filed: 01/14/2014
• Published: 12/31/2015
• Est. Priority Date: 01/18/2013
• Status: Abandoned Application

• Current Assignee: Archos SA
• Original Assignee: Archos SA
• Inventors: MALLART, Raul
• Application Number:
  US14/761,039
• Publication Number:
  US 20150378022A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method is disclosed for providing a mobile device with information on the position thereof relative to a target, including: transmitting, from a laser source connected to the mobile device, a laser beam substantially diverging in an emission plane oriented such that the emitted beam illuminates the target at least partially, capturing an image of the partially illuminated scene from an imaging apparatus that is connected to the mobile device in order to capture an image, and processing the image thus captured in order to generate information on the position of the mobile device relative to the target.

Claims

1. A method for providing a mobile device with information on the position thereof relative to a target, comprising:

emitting, from a laser source linked to said mobile device, a laser beam diverging substantially in a plane of emission oriented so that said emitted beam at least partially illuminates said target;

capturing an image, from imaging equipment linked to said mobile device , of said partially illuminated scene, in order to capture an image; and

processing the image thus captured so as to produce information on the position of said mobile device relative to said target.

2. The method according to claim 1, implementing a pixelated capture, characterized in that the processing of the captured image comprises a two-dimensional detection of the pixels corresponding to areas of the illuminated scene.

3. The method according to claim 2, characterized in that the position information comprises a distance map.

4. The method according to claim 3, characterized in that the distance map has an angular width substantially equal to the divergence angle of the emitted laser beam.

5. The method according to claim 3, characterized in that the processing of the captured image comprises a detection of the pixels corresponding to the areas of the illuminated scene, so that the distance map is obtained in a single shot.

6. The method according to claim 5, characterized in that the processing of the captured image comprises for each pixel corresponding to an area of the illuminated scene, a determination of the horizontal position so as to provide an item of information on the angular position of the mobile device and a detection of the vertical position of said pixel so as to provide an item of distance information of said mobile device.

7. The method according claim 1, also comprising a step of capture prior to the emission, during which an image capture is carried out while the laser beam is not emitted.

8. The method according to claim 1, in which the capture is carried out on an optical axis of the imaging equipment forming an angle (α

) with the plane of emission of the laser beam, characterized in that the angle (α

) is variable.

9. The method according to claim 1, characterized in that it also comprises a step of calibration, called angular calibration, carried out by a supplementary processing of positions on the imaging equipment in order to determine an item of position information, called reference position information, resulting from a capture of an image of an element, called a reference element.

10. A system for providing a mobile device with information on the position thereof relative to a target, implementing the method according to claim 1, comprising:

a laser source linked to said mobile device, provided in order to emit a laser beam diverging substantially in a plane of emission oriented so that said emitted beam at least partially illuminates said target;

imaging equipment linked to said mobile device, provided in order to capture an image of said target; and

means for processing the image thus captured so as to produce information on the position of said mobile device relative to said target.

11. The system according to claim 10, characterized in that the imaging equipment comprises a CCD camera.

12. The system according to claim 11, characterized in that the imaging equipment is configured to carry out an image capture when the laser beam is not emitted.

13. The system according to claim 10, in which the imaging equipment is configured so that the laser beam on a flat surface forms an angle (α

) with the optical axis of the imaging equipment, characterized in that the angle (α

) varies.

14. The system according to claim 10, also comprising calibration means, called angular calibration means, comprising means for processing positions on the detector configured to utilize a reference position resulting from a reference image capture of an emission module.

15. A mobile robot integrating a position measurement system according to claim 10.

16. The robot according to claim 15, characterized in that it is arranged in order to receive and communicate with a digital tablet comprising image processing means arranged in order to determine a distance between the laser and a point of impact of the laser beam on the obstacle, as a function of a position on the detector.

17. A digital tablet comprising:

means for detecting a light beam and communication means;

the communication means being configured to communicate with a robot and in that it is configured to guide the robot by implementing the method according to claim 1.