CN1292878A - Optical sensor system for detecting position of object - Google Patents
Optical sensor system for detecting position of object Download PDFInfo
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- CN1292878A CN1292878A CN998038849A CN99803884A CN1292878A CN 1292878 A CN1292878 A CN 1292878A CN 998038849 A CN998038849 A CN 998038849A CN 99803884 A CN99803884 A CN 99803884A CN 1292878 A CN1292878 A CN 1292878A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention relates to a special light source which produces a horizontal strip of light. Said strip of light is reflected by objects in the vicinity of the sensor system and conducted to a photoelectric converter by a special imaging device. Said imaging device is configured in such a way that objects situated further away are represented as being somewhat further apart so that an ordinary objective with linear resolution can obtain better position resolution of objects situated further away from the sensor system over the entire imaging area. Advantageously, light-emitting diodes are provided on the optical axis of a cylindrical mirror as the light-emitting elements. The electrical signals emitted by the photoelectric converter are evaluated by an evaluation unit in relation to their position. Using triangulation, said evaluation unit then determines how far away the objects which reflected the light are situated.
Description
The present invention relates to the photodetector system of a kind of spot and definite target location.This detector system can preferably be arranged on the autonomous type mobile system, so that carry out orientation for it in circumstances not known.
These autonomous type mobile systems that are in development and planning stage also can run in the daily life in future more and more.These systems carry out the task that they are undertaken independently by making the orientation system that they understand fully the environment scene by one, so just can finish transportation and hygiene task.Except carrying out different path design algorithm and assessment algorithm, detector system is also surveyed its obstacle that is run into to the autonomous type mobile unit and is had very big meaning in environment.In order to make the autonomous type mobile system attractive to the client, with low cost, technology when making these systems in a large number simply are particular importances.Therefore, in autonomous type mobile system environment, the detector system of detection of a target position must have preferably robustness and cost of manufacture cheap.
Can learn the photodetector system that some utilize the triangulation detection of a target from the prior art level.For example, a kind of method of testing of special use being arranged is to implement active optical triangulation with banded illumination.As, the formant of forming this test macro has: spatially make the light source of banded illumination, a photoimaging system, a two dimensional image receiver and the electronic installation handling and analyze the signal of being received by image receiver for one.In order to carry out triangulation, this system needs a light source that only shines banded space.Key character of this light source is the superficial density of its radiant light power.Requirement to this light source is exactly that luminous power must be enough big, so that can discern dark target.The another one of this light source is characterised in that the density of light band, and it not only influences the size of institute's space exploration scope, and influences the resolution of measured target when position measurement.
At present, the known light source that shines into a light belt has following several possibility when implementing: a cylindrical lens places the front of collimating instrument object lens, the light that this collimating instrument object lens aligning LASER Light Source or incandescent lamp, halogen lamp or arc lamp send; Utilize the parallel lightization of collimating instrument object lens, and make these light sectorized by axicon lens with incandescent lamp or halogen lamp.At this, used imaging system at first must satisfy two major requirements.One must be imaged on the spatial dimension that needs are measured on the surface of two dimensional image detector.Its two, guarantee to want the desired location resolution of measurement target.To this, the minor increment between the target that still can differentiate after the imaging on the photoelectric commutator is understood that position resolution.This minor increment is determined by imaging system, equally also is to determine by used converter.At this, for making the large space scope produce the wide-angle imaging with the form of whole semispace as far as possible, and with the enough distance resolutions of identical object lens generation, the requirement of these two kinds of tasks is conflicting.A kind of possibility method that enlarges measurement range by this imaging system is: use a kind of wide-angle lens that produces undistorted image., this object lens with a plurality of lens have a shortcoming, are exactly that it can not make whole semispace around the object lens imaging.On the other hand, make other object lens of whole semispace imaging when work, distortion can occur, and it purchase costliness.The object lens of distortion also resolution of impact position in triangulation.At this, bigger than image planes distance from imaging system two adjacent objects far away by the distance of the image planes between the scattered light imaging of two nearer adjacent objects of imaging system.So this becomes worse and worse with the increase from object lens or imaging system distance with regard to having caused position resolution.By use standard or aspheric plane of refraction-as common employing standard object lens, away from the object imaging together each other of imaging system.In order to make these object image-formings, must use a kind of photoimaging unit that can best be used for these specific purposes, and this image-generating unit fails to find from list of references.
European open being entitled as in " optical system (Visual navigation and obstacle avoidance structured lightsystem) that constitutes visual navigation and avoiding obstacles " literary composition of EP 0358628 A2 disclosed a kind of triangulation system that is used on the means of transport, and this means of transport carries out work by standard object lens of band shape illumination and imaging system.The shortcoming of this scheme is that on the one hand, means of transport can only be surveyed the object that is positioned at the travel direction front, on the other hand, by adopting the standard object lens, under the situation of enough resolution, can only carry out the target range finding to limited range and close-in target.In following document, what announce is to make the environment imaging by an axicon lens and object lens: by R.A.Jarvis, and the article that J.C.Byrne write: " automatic guidance means of transport (Anautomated guided vehicle with map building and path findingcapacilities) " with map construction and path finding ability; By " the 4th the robot research international symposium " that R.C.Bolles and B.Roth write, the 497-504 page or leaf, MIT publishes, Cambridge, Massachusetts, 1988 years; And Y.Yagi, Y.Nishizawa, " use panoramic picture detector C OPIS, based on the Mobile Robotics Navigation (Map based navigation of themobile robot using omnidirectional image sensor COPIS) of map " that M.Yachida write, 1992 IEEE robots and robotization international conference record, in May, 1992, French Nice.When wide, used axicon lens does not change the resolution of system.In addition, resolution is to determine by the object lens of video camera.At J.Hong, X.Tan, B.Pinette, R.Weiss, the article that E.M.Riseman showed " based on homing vector (the Image-based Homing) of figure " (1991 IEEE robots and robotization international conference record, what announce in April, 1991, California Sacramento) is to make the environment imaging by a kind of sphere spheroid.But wherein there is not to use the band shape illumination that helps triangulation.Said this passive system has individual shortcoming to be: owing to can not carry out triangulation, target neither be shone with the light of known location height, so positional information is difficult to be derived.In order to analyze, must introduce a kind of real time image processing system, this system has relatively high expectations to computer capacity, so its expense is also high.In addition, the article of P.Greguss " be used for space research and Robotics, based on the instrument (PAL-Optik basierende Instrumente fuerRaumforschung und Robot-Technik) of PAL-optics ", laser and optoelectronics magazine 28 (5)/1996, the 43-49 page or leaf discloses and has adopted a kind of PAL object lens to be used for autonomous type mobile robot's navigation task.The PAL object lens of Greguss are wide-angle image-generating units, and this unit comprises two minute surfaces and a refrangible non-spherical surface, and can make whole semispace imaging.Wherein also told about of the application of PAL optical system, and it is used as the image-generating unit of the obstacle recognition system of active triangulation to robot.
Task of the present invention is, a kind of photodetector system that is assemblied on the means of transport is provided, for example be contained on the autonomous type mobile robot, this system technology when implementing is simple, and can carry out omnibearing obstacle detection around means of transport, wherein, the imaging system of this photodetector system can not only position less than the target of 50cm the distance system, and reach away from system more than the 2m apart from the time, also have the angular resolution of a position resolution enough, about 5-10cm and＜1 °.
This task realizes according to the feature of claim 1.Expansion of the present invention is provided by dependent claims.
Described detector system preferably is made up of some light sources, these light sources with belt-like form around the surrounding environment of unit, because can survey simultaneously obstacle or target around the unit like this with irradiation autonomous type motorised units.At this, also can preferably install a plurality of folded mutually light sources of arranging, and these light sources are by different time interval connections, so that the differing heights in space is surveyed or measured.In addition, by using special wide-angle image-generating unit (this unit has only single arch, spherical in shape or aspheric minute surface to carry out leaded light), and in conjunction with object lens, a light filter and a photoelectric commutator, light by irradiated target scattering can preferably pass through them, wherein, surrounding environment is projected onto on the converter by imaging system.Utilize this device, can finish this task with the least possible technical fee.
According to expansion of the present invention,, can preferably obtain best space covering power and best resolution characteristic by represent the shape of the non-spherical minute surface of wide-angle image-generating unit with spline function.Spline function is described the shape of image-generating unit in the following manner: according to the type of used object lens, express far range enlargedly by spline function.At this, utilize spline function so to describe distance range and describe subrange effective to the respective distance scope, non-spherical image-generating unit, make adjacent polynomial function all have identical value and identical derivative at the transition point of each investigative range, so the function of use is continuous, continual.Can preferably realize by using such image-generating unit: the simple objective lens with conventional visual angle is expanded needed wide-angle linear imaging characteristic applicable to the present invention.Can realize by using spline function: before light passes object lens, make the predistortion that is scattered back the light generation expection that comes from remote zone, like this, regional available higher resolution far away shows, height when this resolution ratio adopts object lens usually.The imaging system of utilizing this mode to provide is a kind of simple economy scheme of making wide-angle, linear optical system.
Below, utilize accompanying drawing to further specify embodiments of the invention.
Fig. 1 shows the embodiment of a detector system.
Fig. 2 shows may installing of used light source with side view.
Fig. 3 shows around detector system generation a kind of of light belt and may install.
Fig. 4 shows the another embodiment that produces light belt around detector system.
Fig. 5 shows the another embodiment that produces light belt around imaging device.
Fig. 6 shows the possible structure of the detector system that is contained in means of transport or the robot with side view.
Fig. 7 shows the top view of detector system and means of transport.
Fig. 8 shows the detector system that uses the one dimension photoelectric commutator.
Fig. 9 shows the embodiment that adopts two-dimentional optical position detector.
As shown in Figure 1, it has provided a kind of of described detector system may embodiment, and this detector system irradiates light belt by 4 light sources 1 around ground.Irradiate the light supply apparatus of light belt for these, pay special attention to, these light belts are on the plane substantially parallel with base, and the autonomous type mobile unit that detector is housed can move on this base.If this kind device can not accomplish that face is parallel, then can make triangulation become more difficult, because when analyzing folded light beam, should allow these light beams on different angle positions, can both run into the target of reflection, could produce different triangulation angles like this, so that when triangulation, determine the distance of target.At this, light source 1 produces the light belt 2 in irradiation space.The light that used image-generating unit 4 is returned target 3 scatterings by object lens 6 projects on the photoelectric commutator 7, and in this device, converter 7 is constructed to the two-dimensional CCD figure detector of video camera 5.Photoelectric commutator 7 links to each other with an analytical electron device 8 that computing machine for example is housed, and analytical electron device 8 is parts of determining the detector system of target location.Utilize active light principle of triangulation, analytical electron device 8 can be determined the position of target 3 according to projecting figure on the photoelectric commutator 7, wherein, especially uses the imaging characteristic of object lens 6 and image-generating unit 4 according to the height of light belt irradiated plane.This detector system preferably is used on the destination 12, such as the mobile robot.At this,,, can plan out other operation passage of unit according to these information by the current control information of analytical electron device 8 definite means of transports 12 or robot.For example, these information provide the position of target 3, and means of transport 12 passes under target 3 so, or must walk between target 3.
By embodiment shown in Figure 1, the optical axis of image-generating unit 4 is preferably perpendicular to the light belt 2 that light source 1 is sent.In accordance with this embodiment, image-generating unit 4 is implemented as a kind of light unit with spherical or non-spherical minute surface 9, wherein, in imaging system, adopts the outside of minute surface 9 to make the folded light beam imaging.The light belt that sends by light source and project on the photodetector 7 through image-generating unit 4 again by target 3 by target 3 beam reflected, as among the figure with shown in the digital light path of indicating.At this, according to the imaging characteristic of object lens and image-generating unit 4, the distance that projects the light beam on the photodetector 7 has reflected the distance of the detection of a target 3 in the detector system.By the embodiment of detector system shown in Figure 1, every kind arbitrarily X-Y scheme detector 7 all can use.For example, can adopt photodiode array to replace the two-dimensional CCD detector, with as photoelectric commutator 7.
Fig. 2 shows a kind of possible principle embodiment of used light source 1 with side view.At this, light source 1 shown in Figure 2 is made up of a post mirror 11 that has non-spherical section according to purposes, also has an optical transmitting set 10, as light emitting diode.These optical transmitting sets are positioned on the focal line of post mirror 11.At this, optical transmitting set 10 comes on the focal line of post mirror 11 with adjoining in order, and like this, the light-emitting area of optical transmitting set 10 is just pointed to the direction of non-spherical post mirror 11.At this, the light that is sent by optical transmitting set 10 at first arrives non-spherical post mirror 11, and and then penetrates with light belt 2 by mirror.By the non-spherical mirror structure that uses to be complementary, can realize making light source 1 to irradiate a parallel light belt with optical transmitting set 10.To this, should further be mentioned that light emitting diode (LED) is suitable, the simple and small-sized light source of a kind of price, and be arranged on owing to selected light emitting diode on the axle of post mirror, thereby a kind of cost-effective light source can be provided.
As shown in Figure 3, producing a kind of of light belt 2 may be made up of the part of post mirror by the principle device.Here, 11 pairs of optical transmitting sets 10 of post mirror are so-called to be arranged from shaft type, therefore, has only the part of aforementioned post mirror 11 shown in Figure 2 to be applied.At this, optical transmitting set 10 can preferably be made of LED, and comes in order on the focal line of non-spherical post mirror, so that make the direction of its light-emitting area towards non-spherical post mirror 11.Adopt such light source equally also can produce to the effective parallel beam of detector system.This can be from finding out with the light path shown in the arrow.
As shown in Figure 4, in order to produce irradiation light belt 2 around imaging device, another kind of possible scheme is to make a kind of parallel beam rotation.At this, rotary beam 2 produces as follows, i.e. optical transmitting set 10 not only, and also collimating instrument optical devices 14 also rotate round axle t.For example, another kind of such embodiment is, optical transmitting set 10 and collimating instrument optical devices 14 are all fixed, and light beam 2 utilizes the mirror of rotation to make around the movement.
Fig. 5 shows the another kind of possible embodiment of sending light belt 2 around ground.According to this embodiment, light belt 2 is produced by axicon lens 15.At this, the light that is sent by optical transmitting set 10 passes through collimating instrument optical devices 14 at first abreast, and then passes through axicon lens 15 with needed light belt 2 fannings.For example, in this embodiment, but optical transmitting set 10 examples be configured to incandescent lamp, halogen lamp, arc lamp or laser.
Fig. 6 shows a kind of possible structure that is contained in the detector system on the autonomous type mobile unit 12, and this unit 12 is a maintaining robot for example.Shown in Fig. 6 is a side view.On mobile system, can preferably form a plurality of folded mutually light belts of arranging, these light belts are penetrated by a plurality of folded mutually light sources 1.Preferably, when producing light belt 2, it is staggered in time each other, and shine with the pulsation form.Arrange by the folded mutually of a plurality of light sources, can realize better highly distinguishing obstacle.For surveying and measure all obstacles as much as possible around means of transport, preferably installed two image-generating units 4, these two image-generating units 4 are placed on two diagonal angles of means of transport 12 with the video camera under it 5.When obstacle is carried out triangulation, guarantee to obtain the corresponding height position of current access light source by the analytical electron device, so that analyze triangulation result.
Fig. 7 shows means of transport 12-that this detector system is housed such as robot-and the range of receiving of detector system 13 with top view.Shown in Fig. 7 is further, on two diagonal angles of mobile system 12, single image-generating unit 4 is housed respectively.If two image-generating units 4 are provided with by mode shown in Figure 7, then the investigative range 13 of photodetector system can expand the entire environment of mobile system 12 to, or expands the whole space around mobile system to.
Fig. 8 shows the possible embodiment of the photoelectric commutator 7 that adopts one dimension photoelectric commutator 7 forms.Pass object lens 6, light is projected on the one dimension photo-detector that moves in the image planes or preferably rotate by image-generating unit 4.For example, this photoelectric commutator 7 can be embodied as the Position-Sensitive Detector of one dimension, as is embodied as CCD or PSD.By in image planes, moving or preferably rotate, the one dimension photo-detector just can be in whole image planes-and image-generating unit 4 and object lens 6 make spatial dimension imaging on these image planes around means of transport 12-detect light intensity distributions.The measurement result of Huo Deing can preferably be kept in like this, or analyzes with the synchronization ground of photodetector.
Fig. 9 shows another possible embodiment of photoelectric commutator 7, and this photoelectric commutator 7 is represented as the Position-Sensitive Detector of two dimension at this.In this embodiment, photoelectric commutator 7 is embodied as and a kind ofly is positioned at the back of object lens 6 and is positioned at two-dimensional position-sensitive detector on its image planes.In accordance with this embodiment, between object lens 6 and photoelectric commutator 7, be provided with a light tight disk 16 that has slit 17.When the rotation of this disk, by slit 17 current regional extents scanned, Position-Sensitive Detector printing opacity always.For example, the slit 17 that is contained on the light tight disk 16 can only see through the light of determining spatial dimension (is 1 ° as subtended angle).Utilize this mode, can realize having any low-angle directed resolution characteristic.Selected gap width depends on: how much light that scattering is returned has, or detector is with great sensitivity work, and the light belt light intensity of light source irradiation has much.At the parallel beam that uses rotation during-shown in the embodiment of Fig. 4-need not use disk 16, because just can guarantee the resolution of orientation by the light source of rotation as light belt 2.In a word, the advantage that adopts described detector system to have is, its range of receiving is bigger than the scope of known embodiment, and its imaging is more even than the detector system of other known triangulation.By the wide-angle imaging, can measure the position that longer-distance target is arranged from detector system.To this, the special tectonic of image-generating unit 4 can guarantee that range finding all has uniform resolution in the whole investigative range of detector system, its method is: because the light beam that this image-generating unit can scattering reflects from target there, and draw back at a distance target thus mutually, so can proofread and correct the object lens 6 resolution characteristic deficiencies of detector system when remote to a certain extent, by this image-generating unit.
Claims (14)
1. the photodetector system of a detection of a target position, it has a light source that illuminates environment, and light intensity that target scattering is returned distributes and converts electric signal to and send this electric signal the photoelectric commutator of detector signal analytic system to,
It is characterized in that,
Detector system has a light source (1), produces the light belt of one or more horizontal directions thus on a plurality of direction in spaces, and
This photodetector system has a photoimaging unit (4), so that the light that reflection is returned from target (3) scattering, and it is projected on the photoelectric commutator (7), and wherein photoimaging unit (4) have only a single minute surface (9).
2. photodetector system according to claim 1,
Be provided with object lens (6) in the light path between photoimaging unit (4) and photoelectric commutator (7).
3. photodetector system according to claim 1 and 2,
Wherein the optical axis of photoimaging unit (4) is vertical with the light belt (2) of irradiation, and 4 light sources are arranged.
4. one of require described photodetector system according to aforesaid right,
Have a wide-angle image-generating unit (4), this wide-angle image-generating unit (4) has only a sphere or aspheric minute surface (9).
5. one of require described photodetector system according to aforesaid right,
Wherein photoimaging unit (4) have a non-spherical minute surface (9) of being described by two spline functions at least.
6. one of require described photodetector system according to aforesaid right,
Have two folded mutually light sources (1) at least, be used to produce two folded mutually light belts (2).
7. one of require described photodetector system according to aforesaid right,
Have a position sensitive photo detector mobile, one dimension, with as photoelectric commutator (7).
8. require one of 1-6 described photodetector system according to aforesaid right,
The Position-Sensitive Detector that has a two dimension with as photoelectric commutator (7), wherein, is provided with the photomodulator in a space in the light path between photoimaging unit (4) and photoelectric commutator (7).
9. require 8 described photodetector systems according to profit,
Wherein install a rotation, apertured disk (16) or a liquid crystal modulator, with photomodulator as the space.
10. require one of 1-6 described photodetector system according to aforesaid right,
Wherein photoelectric commutator (7) is surveyed the matrix formation as the figure of two dimension.
11. require one of 1-5 described photodetector system according to aforesaid right,
Wherein light source (1) constitutes as the light source of rotation.
12. require one of 1-10 described photodetector system according to aforesaid right,
Wherein, light source (1) is made of Optical Transmit Unit (10), and form by a cylindricality minute surface (11) with non-spherical section, wherein Optical Transmit Unit (10) is placed on the focal line of cylindricality minute surface (11) with the form of light emitting diode, so that make the light-emitting area orientation column mirror (11) of unit (10).
13. require one of 1-10 described photodetector system according to aforesaid right,
Wherein, produce the light source (1) of light belt (2) by a kind of known Optical Transmit Unit, collimating instrument optical devices (14) and an axicon lens (15) formation such as incandescent lamp, halogen lamp, arc lamp or laser.
14. the autonomous type mobile unit, it has the described detector system according to claim 1-13.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19810368 | 1998-03-10 | ||
| DE19810368.9 | 1998-03-10 |
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| Publication Number | Publication Date |
|---|---|
| CN1292878A true CN1292878A (en) | 2001-04-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN998038849A Pending CN1292878A (en) | 1998-03-10 | 1999-03-09 | Optical sensor system for detecting position of object |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1062524A1 (en) |
| JP (1) | JP2002506976A (en) |
| KR (1) | KR20010041694A (en) |
| CN (1) | CN1292878A (en) |
| CA (1) | CA2322419A1 (en) |
| WO (1) | WO1999046612A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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- 1999-03-09 WO PCT/DE1999/000620 patent/WO1999046612A1/en not_active Application Discontinuation
- 1999-03-09 CN CN998038849A patent/CN1292878A/en active Pending
- 1999-03-09 EP EP99919045A patent/EP1062524A1/en not_active Withdrawn
- 1999-03-09 CA CA002322419A patent/CA2322419A1/en not_active Abandoned
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| CN100356193C (en) * | 2005-09-22 | 2007-12-19 | 哈尔滨工程大学 | Stimulated Brillouin scattering laser radar underwater hidden substance detecting system and method |
| CN103479307A (en) * | 2012-06-07 | 2014-01-01 | 三星电子株式会社 | Obstacle sensing module and cleaning robot including the same |
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| CN103479307B (en) * | 2012-06-07 | 2018-04-13 | 三星电子株式会社 | Barrier sensing module and the clean robot for including the barrier sensing module |
| CN106394883A (en) * | 2015-07-08 | 2017-02-15 | 霍尼韦尔国际公司 | Accurate object detection in free space using controlled light source techniques |
| CN106371101A (en) * | 2015-07-20 | 2017-02-01 | 北醒（北京）光子科技有限公司 | Intelligent range finding and obstacle avoidance device |
| CN106371101B (en) * | 2015-07-20 | 2019-08-16 | 北醒（北京）光子科技有限公司 | A kind of device of intelligent distance-measuring and avoidance |
| CN105974427A (en) * | 2016-06-24 | 2016-09-28 | 上海图漾信息科技有限公司 | Structural light distance measurement device and method |
| CN109716161A (en) * | 2016-07-20 | 2019-05-03 | 深圳市大疆创新科技有限公司 | Sphere shape light for detection of obstacles |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1999046612A1 (en) | 1999-09-16 |
| KR20010041694A (en) | 2001-05-25 |
| EP1062524A1 (en) | 2000-12-27 |
| JP2002506976A (en) | 2002-03-05 |
| CA2322419A1 (en) | 1999-09-16 |
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