Proximity sensing method, proximity sensing apparatus and mobile platform using the same

• US 9,162,360 B2
• Filed: 10/03/2013
• Issued: 10/20/2015
• Est. Priority Date: 11/02/2012
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Liu, Chun-Hsien, Tsai, Ya-Hui, Wu, Jia-Hsing, Li, Po-Yi
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/045,424
• Publication Number:
  US 20140129029A1
• Time in Patent Office: 747 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

Abstract

A proximity sensing apparatus is provided. The proximity sensing apparatus includes an encoded signal transmission unit, an interference signal transmission unit and a reception unit. The encoded signal transmission unit transmits an encoded signal, and the interference signal transmission unit transmits an interference signal. The interference signal interferes with the encoded signal to generate an interfered signal. The reception unit receives a sensing signal and outputs the sensing signal to a signal processing unit. The sensing signal is either the interfered signal or the encoded signal. The signal processing unit is electrically connected to the reception unit, and determines whether the sensing signal matches the encoded signal. The signal processing unit further outputs a proximity signal when the sensing signal does not match the encoded signal.

Claims

1. A proximity sensing apparatus, comprising:

an encoded signal transmission unit, for transmitting an encoded signal;

an interference signal transmission unit, for transmitting an interference signal;

the interference signal interfering with the encoded signal to generate an interfered signal; and

a reception unit, for receiving a sensing signal and transmitting the sensing signal to a signal processing unit electrically connected to the reception unit;

the sensing signal being either the interfered signal or the encoded signal;

wherein, the signal processing unit determines whether the sensing signal matches the encoded signal, and outputs a proximity signal when the sensing signal does not match the encoded signal,

wherein the encoded signal comprises a start code, a data code and an end code;

the start code, the data code and the end code change between a low signal level and a high signal level;

the encoded signal maintains at the high signal level across a first pulse width, and maintains at the low signal level across a second pulse width adjacent to the first pulse width;

a code is defined as 0 when the first pulse width equals the second pulse width, and the code is defined as 1 when the first pulse width differs from the second pulse width.

2. The proximity sensing apparatus according to claim 1, wherein the reception unit is disposed between the encoded signal transmission unit and the interference signal transmission unit.

3. The proximity sensing apparatus according to claim 1, further comprising:

a partition plate, located between the interference signal transmission unit and the reception unit.

4. The proximity sensing apparatus according to claim 1, wherein the encoded signal transmission unit, the interference signal transmission unit and the reception unit are in a linear arrangement.

5. The proximity sensing apparatus according to claim 1, further comprising an integrated housing;

wherein, the integrated housing comprises a first side, a second side, a third side and a fourth side;

the first side is opposite the third side, and the second side is opposite the fourth side;

the first side and the third side are neighboring to the encoded signal transmission unit; and

an included angle is formed between the reception unit and the first side.

6. The proximity sensing apparatus according to claim 5, wherein the included angle is between 10 degrees and 45 degrees.

7. The proximity sensing apparatus according to claim 1, further comprising a tapered hollow sleeve located at a front-end of the interference signal transmission unit.

8. The proximity sensing apparatus according to claim 7, wherein the tapered hollow sleeve comprises a front-end opening and a rear-end opening;

the front-end opening is greater than the rear-end opening, and a distance between the interference signal transmission unit and the front-end opening is greater than a distance between the interference signal transmission unit and the rear-end opening.

9. A mobile platform, comprising:

a proximity sensing apparatus, comprising;

an encoded signal transmission unit, for transmitting an encoded signal;

an interference signal transmission unit, for transmitting an interference signal;

the interference signal interfering with the encoded signal to generate an interfered signal; and

a reception unit, for receiving a sensing signal and transmitting the sensing signal to a signal processing unit electrically connected to the reception unit;

the sensing signal being either the interfered signal or the encoded signal;

a movement unit;

a movement control unit, electrically connected to the movement unit and the signal processing unit; and

a housing, for accommodating the movement control unit and the movement unit, the proximity sensing apparatus being installed at a surface of the housing;

wherein the signal processing unit determines whether the sensing signal matches the encoded signal, and outputs a proximity signal when the sensing signal does not match the encoded signal, and

wherein the encoded signal comprises a start code, a data code and an end code;

the start code, the data code and the end code change between a low signal level and a high signal level;

the encoded signal maintains at the high signal level across a first pulse width, and maintains at the low signal level across a second pulse width adjacent to the first pulse width;

a code is defined as 0 when the first pulse width equals the second pulse width, and the code is defined as 1 when the first pulse width differs from the second pulse width.

10. The mobile platform according to claim 9, wherein the reception unit is disposed between the encoded signal transmission unit and the interference signal transmission unit.

11. The mobile platform according to claim 9, wherein the proximity sensing apparatus further comprises a partition plate located between the interference signal transmission unit and the reception unit.

12. The mobile platform according to claim 9, further comprising a tapered hollow sleeve located at a front-end of the interference signal transmission unit.

13. The proximity sensing apparatus according to claim 12, wherein the tapered hollow sleeve comprises a front-end opening and a rear-end opening;

the front-end opening is greater than the rear-end opening, and a distance between the interference signal transmission unit and the front-end opening is greater than a distance between the interference signal transmission unit and the rear-end opening.

14. The mobile platform according to claim 9, wherein the encoded signal transmission unit, the interference signal transmission unit and the reception unit are in a linear arrangement.

15. The mobile platform according to claim 9, wherein the proximity sensing apparatus further comprises an integrated housing;

the integrated housing comprises a first side, a second side, a third side and a fourth side;

the first side is opposite the third side, and the second side is opposite the fourth side;

the first side and the third side are neighboring to the encoded signal transmission unit; and

an included angle is formed between the reception unit and the first side.

16. The mobile platform according to claim 15, wherein the included angle is between 10 degrees and 45 degrees.

17. The mobile platform according to claim 9, wherein the surface of the housing comprises an upper surface, a lower surface and a side surface;

the upper surface is opposite the lower surface, and the side surface is connected with the upper surface and the lower surface; and

the proximity sensing apparatus is installed at the lower surface.

18. The mobile platform according to claim 17, wherein the movement control unit controls the movement unit to stop or to turn the movement unit when the signal processing unit determines that the sensing signal matches the encoded signal.

19. The mobile platform according to claim 18, wherein a distance between the encoded signal transmission unit to a center of the lower surface is smaller than a distance between the interference signal transmission unit to the center of the lower surface.

20. The mobile platform according to claim 9, wherein the housing comprises an upper surface, a lower surface and a side surface;

the upper surface is opposite to the lower surface, and the side surface is connected with the upper surface and the lower surface; and

the proximity sensing apparatus is installed at the side surface.

21. The mobile platform according to claim 20, wherein the movement control unit controls the movement unit to stop or to turn the movement unit when the signal processing unit determines that the sensing signal matches the encoded signal.

22. A proximity sensing method, comprising:

transmitting an encoded signal;

transmitting an interference signal, the interference signal interfering with the encoded signal to generate an interfered signal;

receiving a sensing signal, the sensing signal being either the interfered signal or the encoded signal;

determining whether the sensing signal matches the encoded signal; and

outputting a proximity signal when the sensing signal does not match the encoded signal,

wherein the encoded signal comprises a start code, a data code and an end code;

the start code, the data code and the end code change between a low signal level and a high signal level;

the encoded signal maintains at the high signal level across a first pulse width, and maintains at the low signal level across a second pulse width adjacent to the first pulse width;

a code is defined as 0 when the first pulse width equals the second pulse width, and the code is defined as 1 when the first pulse width differs from the second pulse width.