Sonar ranging/light detection system for use in a robot

• US 4,620,285 A
• Filed: 04/24/1984
• Issued: 10/28/1986
• Est. Priority Date: 04/24/1984
• Status: Expired due to Fees

• Current Assignee: NEC Corporation
• Original Assignee: Heath Company
• Inventors: Perdue, Terry A.
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US06/603,471
• Time in Patent Office: 917 Days
• Field of Search: 364/513, 364/516, 364/478, 364/449, 364/456, 364/460, 364/461, 364/424, 180/167, 180/168, 180/169, 901/46, 901/47, 901/1, 901/24, 901/50, 367/87, 367/95, 367/96, 367/103, 367/118, 367/119, 367/121, 367/138, 367/909, 343/912, 350/484, 350/486, 73/620, 318/560, 318/567, 318/569, 318/580, 318/587, 318/685, 318/696
• US Class Current: 701/23
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection

Abstract

A sonar ranging/light detection system provides information regarding the surrounding environment to a robot. The sonar portion of the system includes an upper rotating detector which provides 360° coverage as well as a lower, fixed detector located on the front of the robot which provides sensory information in the direction of robot movement. A light detector similarly provides a 360° light sensing capability. The upper sonar and light detectors utilize a common rotating mirror driven by a stepper motor and include a slotted shaft encoder in combination with an optopair semiconductor detector. The shaft encoder provides angular information to a microcomputer controller which is also responsive to sonar ranging information in exercising control of the stepper motor. The transmitted sonar signal is comprised of a pulse train of four different frequencies to ensure that simultaneous echoes from more than one surface do not cancel each other out and provide false ranging information. As the time for echo return increases for greater distances, the gain of the sonar receiver is increased by the controller in anticipation of receipt of a weaker echo. The rotating detector is capable of continuous 360° rotation, sector scanning, or pointing in a designated direction in obtaining ranging information and employs a retro-torque damping technique to provide faster angular stabilization of the mirror prior to making range measurements. The upper and lower sonar detectors are utilized in an alternating manner in the various modes of operation.

Claims

1. For use in a robot, a sensor system comprising:

a first acoustic transducer for transmitting and receiving acoustic signals;

a light detector responsive to a light signal incident thereon;

a rotating reflector rotatable through 360° and

positioned adjacent said first acoustic transducer and said light detector for directing the acoustic signals transmitted by the transducer outward from said robot and for directing light signals and acoustic signal echoes incident on said reflector to said light detector and to said first acoustic transducer, respectively;

rotation sensing means coupled to said rotating reflector for determining the angular position thereof;

a controller coupled to said rotating reflector and to said sensing means for controlling the angular position of said reflector; and

a second fixed acoustic transducer positioned on a forward portion of the robot and coupled to said controller for transmitting and receiving acoustic signals.

2. A robot sensor system in accordance with claim 1 further including oscillating means coupled to said controller and to said first transducer for providing an acoustic frequency signal thereto in response to receipt of a control signal from said controller.

3. A robot sensor system in accordance with claim 2 wherein said oscillating means includes variable frequency oscillating means responsive to said control signal for sequentially providing a plurality of acoustic signals to said first transducer, wherein all of said acoustic signals have a different frequency.

4. A robot sensor system in accordance with claim 3 wherein said variable frequency oscillating means includes an astable multivibrator.

5. A robot sensor system in accordance with claim 3 wherein four acoustic signals are provided to said first transducer, with each of said four acoustic signals having a different frequency.

6. A robot sensor system in accordance with claim 1 further including a stepping motor coupled to said controller and to said reflector for incrementally rotating said reflector in accordance with drive control signals from said controller.

7. A robot sensor system in accordance with claim 6 further including damping means coupled to said stepping motor for more accurately positioning said reflector during the incremental rotation thereof.

8. A robot sensor system in accordance with claim 1 wherein said rotation sensing means includes a slotted disc coupled to said rotating reflector in combination with an optical detector coupled to said controller for providing rotating reflector bearing position information thereto.

9. A robot sensor system in accordance with claim 8 wherein said optical detector includes an optically coupled combination of a light emitting diode and a phototransistor.

10. A robot sensor system in accordance with claim 1 further including receiver means coupled between said first transducer and said controller for processing and providing said received acoustic signals to said controller.

11. A robot sensor system in accordance with claim 10 further including variable gain control means coupled between said controller and said receiver means responsive to gain control signals from said controller for varying the gain of said receiver means.

12. A robot sensor system in accordance with claim 11 wherein the gain of said receiver means is incrementally increased with time by said gain control signals following the transmission of an aboustic signal.

13. A robot sensor system in accordance with claim 1 further including an acoustic signal generating oscillator and an acoustic signal receiver coupled to said controller and to said first transducer for providing transmitted signals thereto and for processing received acoustic signal echoes therefrom, respectively.

14. A robot sensor system in accordance with claim 13 further including transformer means coupling said oscillator and said receiver to the first transducer for isolating the transmitted and received signals.

15. A robot sensor system in accordance with claim 1 further including switch means coupling said first and second transducers to said controller.

16. A robot sensor system in accordance with claim 15 wherein said switch means comprises first and second switch means each including a transistor and a relay in combination for alternately coupling said first and second transducers to said controller.

17. A robot sensor system in accordance with claim 1 wherein said first acoustic transducer is located in an upper portion of said robot and said second acoustic transducer is located in a lower, forward portion of said robot.

18. A robot sensor system in accordance with claim 1 wherein said light detector is coupled to said controller for providing bearing information for a source of received light thereto.

19. A robot sensor system in accordance with claim 18 wherein said controller includes memory means for storing said bearing information during one revolution of said rotating reflector.

20. A robot sensor system in accordance with claim 1 wherein said light detector includes a light dependent resistor.

21. For use in a robot, a sensor system comprising:

a first acoustic transducer for transmitting and receiving acoustic signals;

a rotating reflector rotatable through 360° and

positioned adjacent said acoustic transducer for directing the acoustic signals transmitted by the transducer outward from said robot and for directing acoustic signal echoes to said acoustic transducer;

light detecting means positioned on said acoustic transducer and responsive to light incident upon and reflected by said rotating reflector;

rotation sensing means coupled to said rotating reflector for determining the angular position thereof;

a controller coupled to said rotating reflector and to said sensing means for controlling the angular position of said reflector; and

a second fixed acoustic transducer positioned on a forward portion of the robot for transmitting and receiving acoustic signals in detecting an object in front of the robot.

22. A robot sensor system in accordance with claim 21 further comprising a stepping motor coupled to said controller and to said reflector for incrementally rotating said reflector in accordance with drive signals from said controller.

23. A robot sensor system in accordance with claim 22 further comprising damping means coupled to said stepping motor for more accurately positioning said reflector during the incremental rotation thereof.

24. A robot sensor system in accordance with claim 21 wherein said rotation sensing means includes a slotted disc coupled to said rotating reflector in combination with an optical detector coupled to said controller for providing rotating reflector bearing position information thereto.

25. A robot sensor system in accordance with claim 24 wherein said optical detector includes an optically coupled combination of a light emitting diode and a phototransistor.

26. A robot sensor system in accordance with claim 21 wherein said light detecting means is coupled to said controller for providing bearing information for a source of received light thereto.