Object sensing system

• US 6,023,064 A
• Filed: 09/19/1997
• Issued: 02/08/2000
• Est. Priority Date: 12/08/1994
• Status: Expired due to Fees

• Current Assignee: UK Robotics Ltd.
• Original Assignee: UK Robotics Ltd.
• Inventors: Burgin, Mark
• Primary Examiner(s): Hannaher, Constantine
• Application Number:
  US08/849,962
• Time in Patent Office: 872 Days
• Field of Search: 250/341.8
• US Class Current: 250/341.8
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

An object sensing system comprises an array of emitters (3) and detectors (4). The emitters are arranged with overlapping fields of illumination such that each illuminates at least part of a space within which objects are to be sensed. Each detector is positioned to detect radiation reflected from the emitters towards it from any object in the space. The emitters are energized in a sequence such that the space is illuminated by each emitter in turn. The sequential energization of the emitters is correlated with an output of each detector to sense an object and its range within the space.

Claims

1. An object sensing system comprising at least one array of emitters arranged with overlapping fields of illumination such that each illuminates at least part of a space within which objects are to be sensed, at least one detector positioned to detect the intensity of radiation reflected from each object to be sensed, means for energising the emitters in a sequence such that the space is illuminated by each emitter in turn, and means for correlating the energisation of each of the emitters with an intensity dependant output of the or each detector to sense the range of an object from the emitters within the space.

2. An object sensing system according to claim 1, comprising more than one array of emitters, each emitter array illuminating a different part of said space and having at least one detector associated therewith.

3. An object sensing system according to claim 1 or claim 2, comprising an array of detectors associated with the or each array of emitters.

4. An object sensing system according to claim 1, further comprising a neural network for processing the correlated data from each emitter and the or each detector to derive object range information.

5. An object sensing system according to claim 4, wherein the neural network is implemented in software by a microprocessor.

6. An object sensing system according to claim 4, wherein the neural network has separate input nodes for receiving data representative of the or each detector output for detected light reflected from each emitter.

7. An object sensing system according to claim 6 wherein the neural network has an additional input node for receiving a scaling value so that the maximum of the input values is equated to 1.

8. An object sensing system according to claim 1, wherein each emitter is an infra red light emitter, and the or each detector is an infra red light detector.

9. An object sensing system according to claim 1, comprising means for modulating the radiation emitted by each emitter and means for demodulating the output of the or each detector so that information relating to the detected reflected emitted radiation can be differentiated from that relating to the detected background radiation.

10. An object sensing system according to claim 1, comprising means for varying the system'"'"'s sensitivity by varying the gain of an amplifier through which the or each detector output is passed.

20. An object sensing system according to claim 1 or claim 11, comprising at least one array of said emitters and at least one array of said detectors, wherein the or each array of emitters and/or detectors is linear.

11. An object sensing system comprising at least one emitter which illuminates a space within which objects are to be sensed, at least one array of detectors each positioned to detect the intensity of radiation reflected from the objects to be sensed, and means for correlating the output of the or each emitter with an intensity dependant output of each detector to sense the range of an object from the or each emitter within the space.

12. An object sensing system according to claim 11, comprising more than one array of detectors each having at least one emitter associated therewith.

13. An object sensing system according to claim 11 or claim 12, comprising an array of emitters associated with the or each array of detectors.

14. An object sensing system according to claim 11, further comprising a neural network for processing the correlated data from the or each emitter and each detector to derive object range information.

15. An object sensing system according to claim 14 wherein the neural network has separate input nodes for receiving data representative of each detector output for detected light reflected from the or each emitter.

16. An object sensing system according to claim 15, wherein the neural network has an additional input node for receiving a scaling value so that the maximum of the input values is equated to 1.

17. An object sensing system according to claim 11, wherein the or each emitter is an infra red light emitter, and each detector is an infra red light detector.

18. An object sensing system according to claim 11, comprising means for modulating the radiation emitted by the or each emitter and means for demodulating the output of each detector so that information relating to the detected reflected emitted radiation can be differentiated from that relating to the detected background radiation.

19. An object sensing system according to claim 11, comprising means for varying the system'"'"'s sensitivity by varying the gain of an amplifier through which each detector output is passed.