SYSTEM AND METHOD FOR SCANNING A SURFACE AND COMPUTER PROGRAM IMPLEMENTING THE METHOD

• US 20150378023A1
• Filed: 08/21/2014
• Published: 12/31/2015
• Est. Priority Date: 02/13/2013
• Status: Active Grant

• Current Assignee: Universitat Politecnica De Catalunya
• Original Assignee: Universitat Politecnica De Catalunya
• Inventors: Royo Royo, Santiago, Rius Gras, Jordi
• Granted Patent: US 10,018,724 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/32 using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

A system and method for scanning a surface and a computer program implementing the method. The method is suitable for performing the functions carried out by the system of the invention. The computer program implements the method of the invention. The system

• • means for illuminating illuminates different sub-areas (Si) of a surface (S) with a light beam (Be) in an alternating manner, and
  • receives and detects the portions of reflected light (Br) reflected on same, including:
  • one or more light detectors (D); and
  • light redirection means including a determined spatial distribution model (Qr) of the light redirection elements (GM), which receive the portions of reflected light (Br) and sequentially redirect them towards the light detector or detectors (D).

Claims

1. A system for scanning a surface, comprising:

illumination means of a surface to be scanned (S), which is at least partially reflective;

reception and detection means for receiving and detection a portion (Br) of the light reflected by said surface (S),

said reception and detection means comprising light redirection means including a plurality of light redirection elements (GM) arranged according to a determined spatial distribution model (Qr), in a number greater than the number of some light detectors including at least one light detector (D), and configured for receiving portions of reflected light (Br), each of said portions in at least one part of a respective sub-model (SQr) of said determined spatial distribution model (Qr), and

said light redirection means being configured and arranged for sequentially redirecting each of the portions of reflected light (Br) received in at least said part of each of said sub-models (SQr) towards said at least one light detector (D),

wherein the system further comprises light direction means (Me) associated with said illumination means configured for directing at least one light beam (Be) with a determined divergence so that it illuminates different sub-areas of the surface to be scanned (S) in an alternating manner, and wherein said reception and detection means are configured and arranged for receiving and detecting, in an alternating manner, corresponding portions of light (Br) of said light beam (Be) reflected on each of said different sub-areas (Si) of the surface to be scanned (S).

2. The system according to claim 1, wherein said light redirection means are configured and arranged for receiving each of the portions of reflected light (Br) in the entirety of said respective sub-model (SQr) of said determined spatial distribution model (Qr), and for sequentially redirecting each of the portions of reflected light (Br) received in each of said sub-models (SQr) towards said at least one light detector (D).

3. The system according to claim 1, further comprising:

a plurality of light detectors (D), including said light detector, arranged in grid (Qd) or according to another type of spatial distribution model, the light redirection means being configured and arranged for sequentially redirecting each of the portions of reflected light (Br) received in each of the sub-models (SQr) of the light redirection elements (GM) towards the light detectors (D) arranged in grid (Qd) or according to another type of spatial distribution model.

4. The system according to claim 1, wherein said light redirection means further comprise at least one reflective element (Mr) arranged between the determined spatial distribution model (Qr) of the light redirection elements (GM) and the light detector (D) or the grid or another type of light detector spatial distribution model (Qd), which is movable to collaborate in carrying out said sequential redirection of each of the portions of reflected light (Br) received in each of the sub-models (SQr) towards the light detector (D) or the light detectors (D) arranged in grid (Qd) or according to another type of spatial distribution model, by means of respective sequential optical conjugations of the portions of reflected light (Br) received in each of the sub-models (SQr) with the light detector (D) or the light detectors (D) arranged in grid (Qd) or according to another type of spatial distribution model.

5. The system according to claim 1, wherein said light redirection means comprise at least one reflective element (Mr) and an optical system arranged between the determined spatial distribution model (Qr) of the light redirection elements (GM) and the light detector (D) or the grid or another type of light detector spatial distribution model (Qd), where said optical system is configured and arranged for, the reflective element (Mr) remaining static, optically conjugating at all times the light detector (D) or the grid or another type of light detector spatial distribution model (Qd) with the entire determined spatial distribution model (Qr) of the light redirection elements (GM).

6. The system according to claim 1, wherein said light direction means are configured for sequentially directing the light beam (Be).

7. The system according to claim 1, wherein the light direction means comprise at least one reflective and/or deflective device (Me) arranged between the light beam (Be) and the surface to be scanned (S), and which is movable for carrying out said alternating direction of the light beam (Be) and/or has elements capable for carrying out the alternating direction of the light beam (Be) without the reflective and/or deflective device (Me) being moved.

8. The system according to claim 1, wherein it comprises control means associated with the light direction means and with the light redirection means for carrying out both the direction of the light beam (Be) towards the different sub-areas (Si) of the surface to be scanned (S) and the redirection of each of the portions of reflected light (Br) towards the light detector or detectors (D), in a synchronized manner.

9. The system according to claim 1, wherein it comprises, in association with or as part of the reception and detection means, measurement means for measuring the distance between the system and each point of the surface to be scanned (S) by means of determining the time of flight.

10. The system according to 9, wherein said measurement means are configured for obtaining a three-dimensional topographic image by means of a cloud of points of the surface to be scanned (S).

11. The system according to claim 1, wherein the system is or forms part of at least some of the following systems that are selected from the group consisting of:

collision prevention system;

static or moving object detection and tracking system;

intelligent video surveillance system;

border area control system;

three-dimensional vision system in smart security systems;

navigation system for supervised semi-guided or self-guided vehicle;

3D multimedia video system;

safety driving assist system;

intelligent transportation system;

under foliage detection system;

mapping system; and

artificial vision system in robotics.

12. The system according to claim 1, wherein said light redirection means has at least one reflective element (Mr), wherein at least one of said light redirection elements (GM), said reflective element (Mr), said light direction means (Me) is implemented by means of microelectromechanical systems.

13. A method for scanning a surface, comprising:

illuminating a surface to be scanned (S) which is at least partially reflective;

receiving a portion of reflected light (Br) in at least one part of a respective sub-model (SQr) of a determined spatial distribution model (Qr) in which a plurality of light redirection elements (GM) are arranged in a number greater than a number of light detectors including at least one light detector (D); and

sequentially redirecting each portion of portions of reflected light (Br) received in at least said part of each of said sub-models (SQr) towards said at least one light detector (D) of said light detectors,

wherein said step of illuminating a surface comprises projecting on said reflective surface to be scanned (S) at least one light beam (Be) with a determined divergence for illuminating a sub-area (Si) of the area forming said surface to be scanned (S), directing said light beam (Be) so that it illuminates different sub-areas (Si) of the surface to be scanned (S) in an alternating manner; and

wherein the method further comprises

receiving and detecting in said at least one light detector (D), in an alternating manner, corresponding portions of light (Br) of said light beam (Be) reflected on each of said different sub-areas (Si) of the surface to be scanned (S) and redirected from each one of said sub-models (SQr).

14. The method according to claim 13, wherein it comprises receiving each of the portions of reflected light (Br) in the entirety of said respective sub-model (SQr) of said determined spatial distribution model (Qr), and sequentially redirecting each of the portions of reflected light (Br) received in each of said sub-models (SQr) towards said at least one light detector (D).

15. The method according to claim 13, wherein it comprises determining and varying the degree of divergence of the light beam (Be) and/or varying the number of light redirection elements (GM) of each sub-model (SQr), in an automatic manner and/or under a user'"'"'s indication and/or according to a series of local input signals and/or remote input signals and/or input signals coming from internal and/or external detectors, to increase the distance of emission, for the purpose of detecting a surface from a greater distance, and/or the scanning speed, sacrificing spatial resolution, or to increase the spatial resolution, sacrificing received optical power, for the purpose of scanning an object of interest with greater precision.

16. The method according to claim 15, further comprising:

carrying out said variation of a degree of divergence of the light beam (Be) and/or of the number of light redirection elements (GM) of each sub-model (SQr), on the go, according to circumstances of a type selected from the group consisting of operation, environment, object detections performed, and any combination thereof.

17. The method according to claim 13, wherein it comprises using object detection and tracking algorithms for controlling the scanning sequence and determining the sub-areas (Si) to be scanned (S) as areas occupied or to be occupied by one or more objects of interest.

18. The method according to claim 17, wherein said detection and tracking algorithms include movement prediction algorithms.

19. The method according to claim 18, wherein it comprises using images captured by a 2D camera for conditioning the running of said object detection and tracking algorithms.

20. A non-tangible computer program including program instructions that can be run in a computer for implementing at least the steps of the method according to claim 13.

21-35. -35. (canceled)