Distance sensor system and method

• US 8,996,172 B2
• Filed: 07/19/2007
• Issued: 03/31/2015
• Est. Priority Date: 09/01/2006
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Neato Robotics, Inc. (Vorwerk & Company KG)
• Inventors: Shah, Pankaj, Konolige, Kurt, Augenbraun, Joe, Donaldson, Nick, Fiebig, Charles, Liu, Yuming, Khan, Hassaan Moin, Pinzarrone, Joseph, Salinas, Leo, Tang, Hua, Taylor, Rafael
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US11/780,017
• Publication Number:
  US 20100030380A1
• Time in Patent Office: 2,812 Days
• Field of Search: 356/3.1, 356/4.1, 356/4.01, 356/4.02, 356/623, 700/245, 700/258, 700/255, 701/23, 701300-302, 73/17.9
• US Class Current: 700/258
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 2007/4977 including means to prevent or remove the obstruction
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A distance measuring system and method employing a laser distance sensor may have utility in various applications. In accordance with one aspect of the present invention, a laser distance sensor may acquire accurate distance measurements with a short baseline.

Claims

1. A distance sensing system comprising:

a source providing collimated light output;

a source providing diffuse light output;

a sensor operative to detect the outputs incident on a stationary object;

a movable rotating mount to which said sources and said sensor are attached;

said movable rotating mount being rotatable through an arbitrary number of uni-directional rotations; and

an electronics package attached to said movable rotating mount and coupled to said sources and said sensor;

said electronics package executing digital processing to process data acquired by said sensor from collimated and diffuse light hitting said stationary object as said movable mount rotates to generate distance data, said distance data related to a position of the distance sensing system relative to a stationary object in the operating environment.

2. The distance sensing system of claim 1 further comprising a synchronization mechanism to synchronize intermittent operation of said sources and said sensor.

3. The distance sensing system of claim 2 wherein said synchronization mechanism is an optical encoder.

4. The distance sensing system of claim 1 wherein the digital processing comprises executing triangulation calculations.

5. The distance sensing system of claim 1 wherein the digital processing comprises executing sub-pixel interpolation.

6. The distance sensing system of claim 1 wherein the digital processing comprises computing 4000 data points per second.

7. The distance sensing system of claim 1 wherein said source of collimated light output is a laser.

8. The distance sensing system of claim 7 wherein the laser output has a wavelength of approximately 650 nm.

9. The distance sensing system of claim 1 wherein said sensor is a complimentary metal-oxide semiconductor sensor.

10. A robotic device comprising:

a drive mechanism to move said robotic device;

an electronics module disposed on said robotic device to provide instructions to said drive mechanism to position the robotic device in an operating environment;

an optical assembly disposed on said robotic device to provide distance data to said electronics module, said distance data related to a position of the robotic device relative to a stationary object in the operating environment and influencing the instructions provided to said drive mechanism;

said optical assembly comprising;

a source providing collimated light output;

a source providing diffuse light output;

a sensor operative to detect the outputs incident on the stationary object in the operating environment;

a rotating mount to which said sources and said sensor are attached;

said rotating mount being rotatable through an arbitrary number of uni-directional rotations; and

an electronics package attached to said rotating mount and coupled to said sources and said sensor;

said electronics package executing digital processing to process data acquired by said sensor from collimated and diffuse light hitting said stationary objectas said mount rotates to generate the distance data.

11. The robotic device of claim 10 wherein said optical assembly further comprises a synchronization mechanism to synchronize intermittent operation of said sources and said sensor.

12. The robotic device of claim 11 wherein said synchronization mechanism is an optical encoder.

13. The robotic device of claim 10 wherein the digital processing comprises executing triangulation calculations.

14. The robotic device of claim 10 wherein the digital processing comprises executing sub-pixel interpolation.

15. The robotic device of claim 10 wherein the digital processing comprises computing 4000 data points per second.

16. The robotic device of claim 10 wherein said source of collimated light output is a laser.

17. The robotic device of claim 16 wherein the laser output has a wavelength of approximately 650 nm.

18. The robotic device of claim 10 wherein said sensor is a complimentary metal-oxide semiconductor sensor.

19. The robotic device of claim 10 wherein said optical assembly further comprises a transmitter coupled to said electronics package;

said transmitter to transmit the distance data to said electronics module wirelessly.

20. A vehicle comprising:

a distance sensing system operative to generate distance data associated with a distance to a stationary object within a range of the vehicle;

said distance sensing system comprising;

a source providing collimated light output;

a source providing diffuse light output;

a sensor operative to detect the outputs incident on the object;

a rotating mount to which said sources and said sensor are attached;

said rotating mount being rotatable through an arbitrary number of uni-directional rotations; and

an electronics package attached to said rotating mount and coupled to said sources and said sensor;

said electronics package executing digital processing to process data acquired by said sensor from collimated and diffuse light hitting said stationary object as said mount rotates to generate the distance data; and

an electronics module to receive the distance data from said distance sensing system.

21. The vehicle of claim 20 wherein said distance sensing system further comprises a synchronization mechanism to synchronize intermittent operation of said sources and said sensor.

22. The vehicle of claim 21 wherein said synchronization mechanism is an optical encoder.

23. The vehicle of claim 20 wherein the digital processing comprises executing triangulation calculations.

24. The vehicle of claim 20 further comprising a display to display distance related information.

25. The vehicle of claim 24 wherein said display displays a representation of the stationary object in a position relative to a representation of said vehicle.