Method and apparatus for space monitoring by means of pulsed directional beam

• US 4,319,332 A
• Filed: 10/22/1979
• Issued: 03/09/1982
• Est. Priority Date: 04/28/1978
• Status: Expired due to Term

• Current Assignee: Zellweger Uster Ltd.
• Original Assignee: Zellweger Uster Ltd.
• Inventors: Mehnert, Walter
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/087,170
• Time in Patent Office: 869 Days
• Field of Search: 364/516, 364/460, 340/556, 340/557, 343/5 PD, 343/5 VQ, 356/5
• US Class Current: 342/27
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G08B 13/187 by interference of a radiation field

Abstract

A monitoring method and apparatus is disclosed for monitoring surfaces and spaces as well as objects present therein. A pulse transmitter delivers, by means of a beam deflection element, in a defined sequence and in defined directions pulsed directional beams, and received beams are directionally selectively received. Distance vectors and their changes are evaluated in a computer for surface or terrain, space and object measurement and/or object recognition and/or sounding of an alarm.

Claims

1. A method of monitoring a region by means of pulsed directional radiation, comprising the steps of:

fixing certain points in space to define at least one virtual line or virtual surface;

dividing a surface into partial surfaces by means of said virtual line or a space into partial spaces by means of said virtual surface;

assigning a respective predetermined significance to each said partial surface or partial space;

utilizing measuring beams possessing a substantially punctiform expanse at the virtual line or virtual surface or at an object to be detected;

transmitting the measuring beams in defined directions; and

determining by means of the transmitted measuring beams at least one parameter for the identification of at least one object.

2. The method as defined in claim 1, further including the steps of:

altering as a function of time coordinates of said at least one virtual line or virtual surface in relation to a fixed absolute reference point.

3. The method as defined in claim 1, further including the steps of:

altering as a function of time coordinates of said at least one virtual line or virtual surface in relation to a movable relative reference point.

4. The method as defined in claim 1, further including the steps of:

storing the coordinates of at least part of said certain points which are fixed in space.

5. The method as defined in claim 4, further including the steps of:

determining for at least one of said certain points, which itself is not defined by stored coordinates, its related coordinates based upon a functional correlation.

6. The method as defined in claim 1, further including the steps of:

deriving from the transmitted measuring beams information concerning the distance to the object to be identified; and

processing such distance information to determine movement criteria of the object.

7. The method as defined in claim 1, further including the steps of:

monitoring the transmitted measuring beams;

determining the absence of reflected energy at least at one of the transmitted measuring beams;

obtaining upon determination of the absence of reflected energy at least at one of the transmitted measuring beams stored distance vectors providing information concerning the distance to the object to be identified; and

processing such information to determine movement criteria of the object.

8. The method as defined in claim 1, further including the steps of:

deriving from the transmitted measuring beams information concerning the distance to the object to be identified; and

processing such distance information to selectively determine at least any one of the size, configuration, or both, of the object.

9. The method as defined in claim 1, further including the steps of:

monitoring the transmitted measuring beams;

determining the absence of reflected energy at least at one of the transmitted measuring beams;

obtaining from such determination of the absence of reflected energy at least at one of the transmitted measuring beams stored distance vectors containing information concerning the distance to the object to be identified; and

processing such information to selectively determine at least any one of the size, configuration, or both of the object.

10. The method as defined in claim 1, further including the steps of:

measuring the intensity of reflected energy of the transmitted measuring beams; and

utilizing the measured intensity of the reflected energy of the transmitted measuring beams as a criterion for the recognition of a predetermined object.

11. The method as defined in claim 1, further including the steps of:

deriving various information from the transmitted measuring beams concerning the object to be identified; and

processing the obtained information in predetermined logical combinations in order to derive criteria for the recognition of a predetermined object.

12. The method as defined in claim 11, further including the steps of:

comparing the derived criteria with stored information to obtain still further criteria for the recognition of a predetermined object.

13. The method as defined in claim 12, further including the steps of:

utilizing as the stored information data which selectively characterizes at least any one of the movement behavior, size, configuration and nature of the object to be identified.

14. The method as defined in claim 1, further including the steps of:

comparing said at least one determined parameter with stored data;

evaluating the comparison operation to obtain criteria with respect to at least any one of the residence time, penetration, or both, of the object into one of said partial surfaces or one of said partial spaces; and

signalling the presence of the identified object.

15. The method as defined in claim 1, further including steps of:

deriving from said at least one determined parameter for said identification of at least one object magnitudes derived from distance vectors concerning the distance to the object to be identified;

comparing and processing the derived magnitudes with reference values while determining the timewise sequence of occurrence of measured values derived from the transmitted measuring beams in order to determine and identify the object which has penetrated into a given part of the monitored region.

16. The method as defined in claim 15, wherein:

said given part of said monitored region defines a warning zone into which the object to be identified has penetrated.

17. The method as defined in claim 15, wherein:

said given part of said monitored region defines a protective zone into which there has penetrated the object to be identified.

18. The method as defined in claim 15, further including the steps of:

triggering an alarm upon identification of the object which has penetrated into the monitored region.

19. The method as defined in claim 15, further including the steps of:

automatically triggering defensive measures upon determination of penetration of at least one predetermined object into the monitored region.

20. The method as defined in claim 19, further including the steps of:

triggering the defensive measures selectively in consideration of at least any one of the site, the movement, or both, of the object which has pentrated into the monitored region.

21. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams as directional radiation in different directions.

22. The method as defined in claim 21, wherein:

said steps of transmitting the measuring beams as directional radiation in different directions encompasses utilizing a movable transmitter.

23. The method as defined in claim 21, wherein:

said step of transmitting the measuring beams as directional radiation in different directions encompasses utilizing movable beam deflection elements operatively associated with a transmitter.

24. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams in the form of directional radiation in different directions by means of a plurality of transmitters which transmit the measuring beams in different directions.

25. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams in the form of directional radiation in different directions by utilizing at least one transmittter with which there is operatively associated a beam splitter for splitting the transmitted directional radiation.

26. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams in the form of individual radiation pulses in different directions in accordance with a predetermined program;

receiving spatially selective in succession signals reflected at the related radiation direction; and

individually evaluating the reflected signals.

27. The method as defined in claim 26, wherein:

the pulses are transmitted in a transmitter channel and the reflected signals are received in a receiver channel; and

utilizing as the transmitter channel and the receiver channel channels which are mutually decoupled with respect to one another.

28. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams in the form of radiation pulses transmitted in groups simultaneously in different directions and in accordance with a predetermined program;

receiving in groups reflected energy of the transmitted radiation pulses; and

evaluating in groups the received reflected energy.

29. The method as defined in claim 28, further including the steps of:

detecting a change in the received signal of the reflected energy due to penetration of an object into the region of transmission of the radiation; and

utilizing the detected change of the received signal as criteria for tripping an alarm.

30. The method as defined in claim 29, further including the steps of:

utilizing a beam splitter for splitting the transmitted measuring beams.

31. The method as defined in claim 29, further including the steps of:

utilizing at least two beam splitters for the splitting of the radiation of the transmitted measuring beams into different surfaces;

evaluating the timewise difference of the change of an output signal in said at least two beam splitters in order to determine the direction of movement of an object which has penetrated into the region to be monitored; and

employing such determined change as criteria for the directional-dependent tripping of an alarm.

32. The method as defined in claim 1, further including the steps of:

transmitting the measuring beams by electromagnetic energy which is transmitted in the form of pulses.

33. The method as defined in claim 32, further including the steps of:

utilizing pulse-like laser radiation to obtain the transmitted measuring beams.

34. The method as defined in claim 33, further including the steps of:

transmitting pulses in the range of invisible light to form the transmitted measuring beams.

35. The method as defined in claim 1, further including the steps of:

focusing the radiation of the transmitted measuring beams as a function of the direction of transmission of such radiation.

36. The method as defined in claim 1, further including the steps of:

determining said at least one parameter by measuring reflected energy of the transmitted measuring beams; and

selectively controlling at least any one of the transmission output of the transmitted radiation or receiving sensitivity of the reflected radiation as a function of the direction of the radiation.

37. The method as defined in claim 1, further including the steps of:

determining said at least one parameter by measuring the reflected energy of the transmitted measuring beams; and

selectively controlling at least any one of the transmission output or receiving sensitivity as a function of a predetermined magnitude.

38. The method as defined in claim 37, wherein:

said predetermined magnitude constitutes the magnitude of distance vectors derived from the transmitted measuring beams and the reflected energy or absence of reflected energy.

39. The method as defined in claim 37, wherein:

said predetermined magnitude constitutes the intensity of the reflections of the transmitted measuring beams.

40. The method as defined in claim 1, further including the steps of:

deriving said at least one determined parameter from the reflection capability of the object with respect to the radiation of the transmitted measuring beams.

41. The method as defined in claim 40, further including the steps of:

processing such obtained reflection capability in order to detect the object.

42. The method as defined in claim 41, wherein:

said processing steps entails determining the reflection capability of the object in relation to at least selectively any one of other objects or the background.

43. The method as defined in claim 40, further including the steps of:

separately detecting objects having greater reflection capability from the totality of all objects or the background by intentionally reducing the transmission output of the transmitted radiation or the received sensitivity of the received radiation reflection by the object.

44. The method as defined in claim 1, wherein:

said step of fixing certain points in space to define at least one virtual line or virtual surface comprises the steps of;

temporarily erecting reflectors which reflect the transmitted measuring beams in the form of reflected radiation energy;

determining the reflected radiation energy which is temporarily reflected by the erected reflectors during a certain time span;

deriving from the reflected radiation energy distance vectors correlated to related ones of said certain points;

temporarily evaluating only such received distance vectors; and

storing such distance vectors and the related coordinates of said certain points.

45. The method as defined in claim 1, further including the steps of:

correlating said at least one virtual line or virtual surface to a travel path for objects in the form of vehicles;

detecting the crossing of the virtual line or penetration of the virtual surface by at least one vehicle; and

evaluating and recording such detection step.

46. The method as defined in claim 1, further including the steps of:

monitoring a surface or a space with respect to a condition to determine possible changes thereof; and

evaluating changes of the determined condition.

47. The method as defined in claim 46, wherein:

said condition is a constant condition.

48. The method as defined in claim 46, wherein:

said condition is a changing condition.

49. The method as defined in claim 46, further including the steps of:

fixing said at least one virtual line or virtual surface so as to lie upon the surface of an object which is to be monitored.

50. A method of preparing a region for monitoring thereof by means of pulsed direction radiation, comprising the steps of:

transmitting energy in predetermined directions and in a predetermined sequence;

intentionally interrupting the path of transmission of the energy so as to reflect at least part of said transmitted energy at predetermined points; and

fixing said predetermined points in space to define at least one virtual line or virtual surface.

51. A method of monitoring a region by means of pulsed directional radiation, comprising the steps of:

transmitting radiation in a predetermined sequence and in predetermined directions into the region to be monitored;

reflecting at certain points in the region to be monitored the transmitted radiation;

processing the received reflected radiation to fix said points in space in order to define at least one virtual line or virtual surface;

dividing the region to be monitored into partial regions by means of said virtual line or virtual surface; and

supervising the partial surfaces or partial spaces in order to detect intrusion or changes thereat.

52. A method of preparing a region to be monitored for determination of a desired condition thereof, comprising the steps of:

transmitting beams at defined intervals and in predetermined directions at the region to be monitored;

intentionally intercepting at least given ones of said transmitted beams at predetermined points to reflect radiation energy of said transmitted beams; and

processing the reflected radiation energy to plot at least one virtual line or virtual surface in order to produce an imaginary light fence for monitoring said region.

53. The method as defined in claim 52, further including the steps of:

storing data regarding the plotted imaginary light fence;

transmitting measuring beams at defined intervals and in predetermined directions in the direction of the light fence and to the region to be monitored;

comparing reflected energy or absence of reflected energy of said transmitted measuring beams at least with said stored data regarding the plotted imaginary light fence to determine whether or not energy of said transmitted beams is reflected to obtain data indicative of the condition of the region to be monitored; and

processing said obtained data and stored data to determine the condition of the region to be monitored.

54. The method as defined in claim 53, wherein:

said condition to be monitored is whether there has occurred an unauthorized intrusion at the region to be monitored.

55. The method as defined in claim 53, wherein:

said condition to be monitored is whether there is any change in the physical characteristics of the region to be monitored.

56. The method as defined in claim 53, wherein:

said condition to be monitored is the appearance of at least oe object at the region to be monitored.

57. An apparatus for monitoring a region by pulsed directional radiation, comprising:

a directional radiation emitter;

said directional radiation emitter being provided with a pulse transmitter for emitting pulsed directional radiation in a defined timewise sequence and in defined directions;

said directional radiation emitter including a receiver for the spatially directed reception of reflected energy of the directional radiation transmitted by the pulse transmitter; and

computer means serving as an evaluation device for the arithmetic evaluation of a multiplicity of reflection signals derived from the reflected radiation energy and which have been received from different directions or the absence of reflection signals.

58. The apparatus as defined in claim 57, wherein:

said computer means is operative for the timewise change of coordinate values stored therein of at least one virtual line or virtual surface; and

said directional radiation emitter having a fixed erection site.

59. The apparatus as defined in claim 57, wherein:

said computer means is operative for the timewise change of coordinate values stored therein relating to at least one virtual line or virtual surface; and

said directional radiation emitter has a movable erection site.

60. The apparatus as defined in claim 57, wherein:

said evaluation device comprises storage means for the reception of information for the recognition of predetermined objects.

61. The apparatus as defined in claim 57, further including:

output means operatively associated with said evaluation device and serving for the indication of an alarm.

62. The apparatus as defined in claim 57, wherein:

said directional radiation emitter comprises a beam deflection element;

said directional beam emitter further comprises an upper portion containing said pulse transmitter, said receiver and said beam deflection element;

said directional beam emitter still further comprising a lower portion secured at an erection site; and

means rotatably mounting said upper portion about an axis with respect to said lower portion.

63. The apparatus as defined in claim 62, further including:

a regulation and control device operatively associated with at least any one of said pulse transmitter and said beam deflection element;

said directional radiation emitter further including a rotational transmitter;

said regulation and control device being operatively associated with said rotational transmitter; and

said regulation and control device controlling the point in time of outfeed of radiation pulses of the pulse transmitter while taking into account and correcting angular errors of at least any one of the rotational movement of the upper portion and the angular errors of the beam deflection element.

64. The apparatus as defined in claim 62, wherein:

said directional radiation emitter includes means arranged after the pulse transmitter for feeding radiation of the pulse transmitter to said beam deflection element.

65. The apparatus as defined in claim 64, wherein:

said beam deflection element is structured to define a controllable beam deflection element.

66. The apparatus as defined in claim 64, wherein:

said feeding means comprises a parabolic mirror.

67. The apparatus as defined in claim 64, wherein:

said feeding means comprises a controllable vario-optic means.

68. The apparatus as defined in claim 64, wherein:

said beam deflection element comprises an oscillating mirror which is reflectively coated at both of its faces;

a pivot device cooperating with said oscillating mirror;

a regulation and control device for controlling said pivot device in order to pivot the oscillating mirror through essentially exactly defined angular values; and

one face of the oscillating mirror being impinged with the transmitted radiation and the other face with the received reflection radiation.

69. The apparatus as defined in claim 68, wherein:

said oscillating mirror has an essentially elliptical configuration.

70. The apparatus as defined in claim 66, wherein:

said directional radiation emitter includes;

a deflection mirror arranged after the beam deflection element;

said deflection mirror outwardly directing the transmitted radiation as a function of the momentary position of the beam deflection element through a varying elevation angle;

a second deflection mirror arranged forwardly of the beam deflection element;

a further parabolic mirror; and

said second deflection element delivering reflected transmitted radiation energy from the outside by means of the beam deflection element and said further parabolic mirror to the receiver from a direction which is opposite the direction of the transmitted radiation beam departing from the directional radiation emitter.

71. The apparatus as defined in claim 70, wherein:

said directional radiation emitter includes a narrow-band interference filter tuned to the wave-length of the transmitted radiation and arranged forwardly of the receiver.

72. The apparatus as defined in claim 57, wherein:

said directional radiation emitter comprises a distance measuring device operating according to the principle of transit times of the transmitted energy.

73. The apparatus as defined in claim 57, wherein:

said directional radiation emitter is structured to selectively either follow by means of its transmitted measuring radiation at least one virtual line or samples of at least one virtual surface and to receive and evaluate reflected radiation energy.

74. The apparatus as defined in claim 57, wherein:

said computer means comprises;

a central computer for performing the operations of monitoring and determining changes in the monitored region and containing;

a first input/output device;

a second input-output device;

a central processor unit;

a programmable storage;

a first read-write storage;

a second read-write storage;

a first multiple bus;

a satellite computer for performing operations on data representative of said changes in the monitored region and received from the central computer in order to enable said central computer to continue said monitoring and determination operations without interruption and containing;

an input/output device;

a central processor unit;

a programmable storage;

a read-write storage;

a second multiple bus;

a collecting bus-control unit operatively associated with both multiple buses;

a transmitter-receiver device operatively associated with said multiple buses;

a rotational transmitter;

a regulation and control unit;

a beam deflection element;

a real time clock;

a control unit;

an input unit;

an output unit;

said computer means together with said rotational transmitter, said regulation and control unit, said beam deflection element, said real time clock, said control unit, said input unit and said output unit being operatively connected with one another;

a drive unit;

current supply means;

said drive unit and said current supply means being connected with said input unit; and

means providing a connection between the current supply unit and the control unit.

75. The apparatus as defined in claim 57, wherein:

said directional radiation emitter comprises a beam splitter system operatively associated with the pulse transmitter and the receiver for dividing the transmitted energy in different directions and for the directed reception of reflected energy from such directions.

76. The apparatus as defined in claim 75, wherein:

said beam splitter system contains a beam splitter element and a beam collector;

said beam splitter system is provided with a transmitter coupling element for coupling said beam splitter system with the pulse transmitter;

a transmission conducting system for conduction of the transmitted energy to said beam splitter element and said beam collector;

a receiver coupling element for coupling the receiver to said beam collector;

a receiver conductor system for the conduction of the received energy by means of said receiver coupling element to the receiver and with which there is operatively associated said computer means for the evaluation of received signals.

77. The apparatus as defined in claim 76, wherein:

said pulse transmitter comprises a laser pulse transmitter having a lense arrangement as the transmitter coupling element for coupling the laser pulse transmitter at said transmission conducting system;

said transmission conducting system being structured as a glass fibre bundle for further conducting the transmitted energy which has been divided at individual fibres of said glass fibre bundle to said beam splitter system connected with the glass fibre bundle;

said lense arrangement comprising transmitting lenses each having a differently directed axis;

said beam collector comprising receiving lenses each having a differently directed axis; and

a further glass fibre bundle having fibres operatively associated with said receiving lenses and serving as said receiving conductor system for the further conduction of received energy by means of a further lense arrangement constructed as said receiver coupling element.