Threat detection sensor suite

• US 20080136626A1
• Filed: 10/02/2007
• Published: 06/12/2008
• Est. Priority Date: 10/02/2006
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Kirigin, Ivan, Hudson, Edison, Lenser, Scott
• Granted Patent: US 8,884,763 B2
• Time in Patent Office: Days
• US Class Current: 340/540
• 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 sensor suite for a vehicle, the sensor suite comprising a 3D imaging system, a video camera, and one or more environmental sensors, wherein data from the sensor suite is combined to detect and identify threats during a structure clearing or inspection operation.

2. The sensor suite of claim 1, wherein the sensors collects data regarding the same physical geometry.

3. The sensor suite of claim 1, wherein the sensor suite is included on a payload for a remote vehicle.

4. The sensor suite of claim 3, wherein the payload is mounted on a pan-tilt.

5. The sensor suite of claim 1, wherein the 3D imaging system includes a Flash LADAR.

6. The sensor suite of claim 5, wherein the video camera includes an IR color imaging sensor and is combined with grayscale lower-resolution data produced by the Flash LADAR.

7. The sensor suite of claim 1, further comprising a thermal imager for sensing a heat register of a target.

8. The sensor suite of claim 1, wherein the one or more environmental sensors are chosen from at least one of a spectrographically-based detector, a chemical fluorescence-based detector, and an ion mobility spectrometry-based detector.

9. The sensor suite of claim 1, further comprising a through-wall sensor for detecting movement in an obscured area of a structure.

10. A method for detecting and identifying threats during a structure clearing or inspection operation, the method comprising:

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.

11. The method of claim 10, wherein the data is gathered from the same physical geometry.

12. The method of claim 10, further comprising gathering thermal image data and combining it with other gathered data to detect and identify threats.

13. A method for detecting and identifying threats during a structure clearing or inspection operation, the method, comprising:

detecting a target;

identifying that the target is of interest;

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.

14. The method of claim 13, wherein identifying that the target is of interest includes identifying its geometry as determined using 3D imaging and video.

15. The method of claim 13, further comprising:

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

determining legible markings.

16. The method of claim 15, wherein determining legible markings is accomplished by optical character recognition.

17. The method of claim 13, wherein moving close enough to the target is achieved by autonomous navigation.

18. The method of claim 13, wherein identifying the target comprises classifying the target as a threat.