Open confined area object detection

• US 9,630,557 B2
• Filed: 08/13/2015
• Issued: 04/25/2017
• Est. Priority Date: 08/13/2015
• Status: Active Grant

• Current Assignee: SICK Incorporated (Sick)
• Original Assignee: SICK Incorporated (Sick)
• Inventors: Hoepner, Dale, Shivanna, Monisha, Rothmeyer, Aaron, Alexander, Don
• Primary Examiner(s): FILE, ERIN M
• Application Number:
  US14/825,872
• Publication Number:
  US 20170043716A1
• Time in Patent Office: 621 Days
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B65G 69/2882 operated by detectors or sensors
• CPC Class Codes: G08B 21/02 Alarms for ensuring the safety of persons
• CPC Class Codes: G08G 1/095 Traffic lights
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Alarm indications of objects (431, 631) in spaces (113) subject to vehicle movements are provided using a scanner unit configured to provide indications of directions and distances of objects within a scan area. A computer compares the signal output from a scanner unit (121) and resolves the signal output to a pattern of the indications of directions and distances, and further resolve multiple instances of the indications over time to resolve the pattern of indications and distances to movement corresponding to the movement of the objects (431, 631). The indications are compared to render an indication of objects (431) partially blocked by other ones (631) of the objects from line-of-sight of the scanner unit (121). Predetermined relative movements of the objects (431, 631) as resolved by the computer render predetermined indicator or alarm signals (341, 342, 345).

Claims

1. Apparatus for providing alarm indications of objects in spaces subject to vehicle movements, the apparatus comprising:

a scanner unit configured to provide indications of directions of movement of objects and distances of objects within a scan area and provide the indications as a signal output;

a driver unit configured to cause the scanner unit to scan the scan area;

a computer configured to compare the signal output from the scanner unit and resolve the signal output to a pattern of the indications of directions of movement of objects and distances of objects over multiple instances of the indications over time, to determine movement corresponding to the movement of the objects based on the pattern of the indications of directions of movement and distances;

the computer further configured to compare the indications of objects and of movements of the objects to render an indication of objects partially blocked by other ones of the objects from line-of-sight of the scanner unit; and

an indicator output, whereby predetermined relative movements of the objects as resolved by the computer render predetermined indicator or alarm signals.

2. The apparatus as described in claim 1, wherein a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having at least one movement status renders the predetermined indicator or alarm signals.

3. The apparatus as described in claim 1, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having one movement status renders the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

4. The apparatus as described in claim 1, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in the background having a predetermined minimum size corresponding to a vehicle having one movement status corresponding to at least one type of movement of the vehicle renders one type of the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

5. The apparatus as described in claim 1, wherein the scanner unit comprises an opto-electronic laser scanner that electro-sensitively scans the perimeter of its surroundings at a single plane with the aid of laser beams.

6. The apparatus as described in claim 1, wherein the scanning unit provides an azimuth indication, permitting sensing within a predetermined boundary, while disregarding indications outside the predetermined boundary.

7. The apparatus as described in claim 1, wherein the scanning unit provides an azimuth and the indication of distance of objects, thereby sensing within a predetermined boundary set by a user, and disregarding indications outside the predetermined boundary.

8. Method for providing alarm indications of objects in spaces subject to vehicle movements, the method comprising:

configuring a scanner unit to provide indications of directions of movement of objects and distances of objects within a scan area and provide the indications as a signal output and driving the scanner unit to scan the scan area;

using a computer to compare the signal output from the scanner unit and to resolve the signal output to a pattern of the indications of directions of movement of objects and distances of objects over multiple instances of the indications over time, to determine movement corresponding to the movement of the objects based on the pattern of the indications of directions of movement and distances;

using the computer to compare the indications of objects and of movements of the objects to render an indication of objects partially blocked by other ones of the objects from line-of-sight of the scanner unit; and

using predetermined relative movements of the objects as resolved by the computer to render predetermined indicator or alarm signals.

9. The method as described in claim 8, wherein a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having at least one movement status renders the predetermined indicator or alarm signals.

10. The method as described in claim 8, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having one movement status renders the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

11. The method as described in claim 8, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in the background having a predetermined minimum size corresponding to a vehicle having one movement status corresponding to at least one type of movement of the vehicle renders one type of the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

12. The method as described in claim 8, wherein the scanner unit comprises an opto-electronic laser scanner that electro-sensitively scans the perimeter of its surroundings at a single plane with the aid of laser beams.

13. The method as described in claim 8, wherein the scanning unit provides an azimuth indication, permitting sensing within a predetermined boundary, while disregarding indications outside the predetermined boundary.

14. The method as described in claim 8, wherein the scanning unit provides an azimuth and the indication of distance of objects, thereby sensing within a predetermined boundary set by a user, and disregarding indications outside the predetermined boundary.

15. Apparatus for providing alarm indications of objects in spaces subject to vehicle movements, the apparatus comprising:

a scanner unit for providing indications of directions of movement of objects and distances of objects within a scan area and provide the indications as a signal output;

output means for causing the scanner unit to scan the scan area;

a computer configured to compare the signal output from the scanner unit and resolve the signal output to a pattern of the indications of directions of movement of objects and distances of objects over multiple instances of the indications over time, to determine movement corresponding to the movement of the objects based on the pattern of indications of directions of movement and distances;

the computer further configured to compare the indications of objects and of movements of the objects to render an indication of objects partially blocked by other ones of the objects from line-of-sight of the scanner unit; and

indicator means, whereby predetermined relative movements of the objects as resolved by the computer render predetermined indicator or alarm signals.

16. The apparatus as described in claim 15, wherein a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having at least one movement status renders the predetermined indicator or alarm signals.

17. The apparatus as described in claim 15, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in a background having a predetermined minimum size having one movement status renders the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

18. The apparatus as described in claim 15, wherein:

a detected object in a foreground position with respect to the scanner unit in combination with a detected object in the background having a predetermined minimum size corresponding to a vehicle having one movement status corresponding to at least one type of movement of the vehicle renders one type of the predetermined indicator or alarm signals; and

the detected object in a foreground position with respect to the scanner unit in combination with the detected object in the background having a different movement status renders a different type of the predetermined indicator or alarm signals.

19. The apparatus as described in claim 15, wherein the scanner unit comprises an opto-electronic laser scanner that electro-sensitively scans the perimeter of its surroundings at a single plane with the aid of laser beams.

20. The apparatus as described in claim 15, wherein the scanning unit provides an azimuth and the indication of distance of objects, thereby sensing within a predetermined boundary set by a user, and disregarding indications outside the predetermined boundary.