Threat detection sensor suite

• US 8,884,763 B2
• Filed: 10/02/2007
• Issued: 11/11/2014
• Est. Priority Date: 10/02/2006
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Hudson, Edison, Lenser, Scott, Kirigin, Ivan
• Primary Examiner(s): Bugg, George
• Assistant Examiner(s): Labbees, Edny
• Application Number:
  US11/905,624
• Publication Number:
  US 20080136626A1
• Time in Patent Office: 2,597 Days
• Field of Search: 340/632, 340/570, 315/560, 315/568.11, 315/568.12, 73/232, 73/235, 318/560, 348/208.12, 348/158
• US Class Current: 340/570
• CPC Class Codes: G01S 13/888 through wall detection
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A sensor suite for a vehicle, the sensor suite comprising a 3D imaging system, a video camera, and one or more environmental sensors. Data from the sensor suite is combined to detect and identify threats during a structure clearing or inspection operation. Additionally, a method for detecting and identifying threats during a structure clearing or inspection operation. The method comprises: gathering 3D image data including object range, volume, and geometry; gathering video data in the same physical geometry of the 3D image; gathering non-visual environmental characteristic data; and combining and analyzing the gathered data to detect and identify threats.

Claims

1. A method for detecting and identifying threats during a structure clearing or inspection operation performed with an autonomous remote vehicle, the method comprising:

mounting a self-contained threat detection sensor suite payload on the remote vehicle, the threat detection sensor suite comprising a processor configured to run executable software for performing autonomous and semi-autonomous behaviors for the structure clearing or inspection operation;

detecting a target;

identifying that the target is of interest;

moving toward the target until any legible markings can be determined;

determining legible markings, wherein determining legible markings is accomplished by optical character recognition;

moving close enough to the target that one or more environmental sensors can sense environmental characteristics of the target;

gathering environmental characteristic data with the one or more environmental sensors; and

combining and analyzing data gathered to identify the target.

2. The method of claim 1, wherein identifying that the target is of interest includes identifying its geometry as determined using 3D imaging and video.

3. The method of claim 1, wherein moving close enough to the target is achieved by autonomous navigation.

4. The method of claim 1, wherein identifying the target comprises classifying the target as a threat.