EP0377680A1 - Appareil de detection d'obstacles par balayage - Google Patents

Appareil de detection d'obstacles par balayage

Info

Publication number
EP0377680A1
EP0377680A1 EP88910394A EP88910394A EP0377680A1 EP 0377680 A1 EP0377680 A1 EP 0377680A1 EP 88910394 A EP88910394 A EP 88910394A EP 88910394 A EP88910394 A EP 88910394A EP 0377680 A1 EP0377680 A1 EP 0377680A1
Authority
EP
European Patent Office
Prior art keywords
radiant energy
reflector
set forth
rotatable
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP88910394A
Other languages
German (de)
English (en)
Inventor
Grant Carl Melocik
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar Industrial Inc
Original Assignee
Caterpillar Industrial Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US07/218,768 external-priority patent/US4898927A/en
Application filed by Caterpillar Industrial Inc filed Critical Caterpillar Industrial Inc
Publication of EP0377680A1 publication Critical patent/EP0377680A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Definitions

  • This invention relates generally to vehicular sensors and, more particularly, to a vehicular sensor capable of detecting obstacles in the path of a work vehicle.
  • U.S. Pat. No. 4,447,800 issued to Kasuya et al. depicts an obstacle detection system which has an optical transmitting system that reflects optical energy off potential obstacles back to an optical receiving system.
  • the system is not suited for use on slow moving work vehicles, which require a system that scans a broad area relatively near the vehicle.
  • U.S. Pat. No. 3,842,397 shows a distance detection system which uses a plurality of fixed ultrasonic sensors mounted about the vehicle periphery. Such duplication of hardware significantly increases cost.
  • Other inventions have attempted to cover a broad scanning area by mechanically causing one or more transceivers to scan back and forth.
  • U.S. Patent 4,706,772 issued November 17, 1987 to Ian J. Dawson, et al teaches an implementation of such a system. While these systems reduce the number of transceivers required to scan a particular area, they are typically mechanically complex.
  • an apparatus for detecting obstacles in the path of a work vehicle upon which the apparatus is mounted includes a transducer for producing radiant energy having a central axis of propagation, receiving reflected produced radiant energy, and controllably producing an obstacle detected signal in response to receiving the reflected produced radiant energy.
  • a rotatable reflector controllably projects the produced radiant energy radially outwardly from the work vehicle and receives the reflected produced radiant energy along substantially the same path.
  • the rotatable reflector includes a central axis of rotation and an optical reflector member rotatably disposed along the axis of rotation.
  • An encoder controllably produces an enable signal in response to the optical reflector member being rotatably positioned at any one of a plurality of predetermined rotational positions about the axis of rotation.
  • Zone control logic receives the obstacle detected signal and the enable signal and produces a vehicle control signal.
  • a work vehicle which includes a vehicle frame having first and second spaced apart sides.
  • a radiant energy transducer having a transmitting portion adapted to produce radiant energy having a central axis of propagation, and a receiving portion adapted to receive reflected produced radiant energy and responsively produce an obstacle detected signal, is mounted on the vehicle frame.
  • a reflector has a central axis of rotation and is rotatably connected to the vehicle frame at a position sufficient to intercept the radiant energy produced by the transducer transmitting portion.
  • An encoder has a rotatable optically coded member disposed between a light source and a light receiver, the encoder being connected to the vehicle frame and being adapted to produce an enable signal in response to predetermined positions of the rotatable member.
  • a motor has a rotary shaft connected to the reflector and the optically coded member, the motor being connected to the vehicle frame.
  • Zone control logic receives the obstacle detected signal and the enable signal and produces a vehicle control signal.
  • Fig. 1 is a diagrammatic view of a first embodiment of the present invention
  • Fig. 2 is a top view of a first embodiment of the rotatable optically coded member
  • Fig. 3 is a diagram showing the area scanned by the first embodiment
  • Fig. 4 is a diagrammatic view of a second embodiment of the present invention
  • Fig. 5 is a top view of the second embodiment of the rotatable optically coded member
  • Fig. 6 is a diagram showing the area scanned by the second embodiment
  • Fig. 7 is a schematic view of a portion of one embodiment of the present invention.
  • an apparatus 10 for detecting obstacles in the path of a work vehicle 12.
  • the apparatus 10 is preferably attached to a work vehicle frame 12A having first and second spaced apart sides 13A,13B.
  • the apparatus 10 includes a transducer 14 which has a receiving portion 14A adapted to receive radiant energy, and a transmitting portion 14B adapted to produce radiant energy along a central axis of propagation.
  • the radiant energy is an infrared signal.
  • the transducer 14 directs the produced radiant energy to a rotatable reflector 16 which includes an optical reflector member 17, shown here as being a mirror 18, attached to one end of a rotatable shaft 20 having a central axis of rotation.
  • the other end of the rotatable shaft 20 is attached to a motive means 22 capable of causing the shaft 20 to rotate about its central axis of rotation.
  • the mirror 18 is disposed in relation to the rotatable shaft 20 such that it projects the produced infrared signal outwardly from the work vehicle 12 in a substantially horizontal path.
  • the mirror 18 causes the projected radiant energy to be angularly displaced.
  • the projected radiant energy sweeps through 360 degrees.
  • any radiant energy which strikes an obstacle and is reflected back towards the mirror 18 is directed by the mirror 18 back to the transducer 14.
  • the transducer 14 receives the radiant energy and produces a signal signifying that an obstacle has been detected.
  • An encoder 24 is disposed in the apparatus 10 between the motive means 22 and the mirror 18.
  • the encoder 24 includes a rotatable optically coded member 26 which is driven by and is preferably coaxial with the rotatable shaft 20. As the shaft 20 rotates, the optically coded member 26 also rotates. As can be seen in Fig. 2, the rotatable optically coded member 26 has alternating optically opaque (shaded in the figures) and transmissive portions which are arranged in a predetermined pattern. Also, as shown best in Fig. 7, included in the encoder 24 is a stationary optical sensor 27 comprised of a light source 28, advantageously a light emitting diode (LED) 29, and a light receiver 30, advantageously a phototransistor 31.
  • a stationary optical sensor 27 comprised of a light source 28, advantageously a light emitting diode (LED) 29, and a light receiver 30, advantageously a phototransistor 31.
  • optical energy omitted from the LED 29 is directed towards the phototransistor 31.
  • Located between the LED 29 and the phototransistor 31 is at least some portion of the rotatable optically coded member 26.
  • the LED 29 has a first lead attached to a positive voltage source via a bias resistor 29A which establishes the proper current through the LED 29.
  • the LED's second lead is attached to circuit ground.
  • the collector of the phototransistor 31 is connected to the positive voltage source and the emitter is attached to a first input terminal of a zone logic control 32, advantageously an AND gate 33, and also to circuit ground via a resistor 31A.
  • the second input terminal of the AND gate 33 is connected to the output terminal of the receiving portion 14A of the transducer 14.
  • the output terminal of the AND gate 33 is connected to a vehicle logics circuit 34.
  • the light produced by the LED 29 strikes the base of the phototransistor 31 and causes it to create a "logic 1" signal on the emitter output terminal.
  • This causes the logic signal on the output terminal of the AND gate 33 to correspond to the logic signal on the output terminal of the receiving portion 14A of the transducer 14, i.e. if the output signal from the transducer 14 is "logic 1", the output signal of the AND gate 33 is also “logic 1”, and if the output signal from the transducer 14 is "logic 0", then the output signal of the AND gate 33 is "logic 0".
  • the apparatus 10 is activated to indicate sensed obstacles only when an optically transmissive portion of the rotatable optically coded member 26 is present between the LED 29 and the phototransistor 31.
  • the apparatus 10 can easily be constructed so that obstacles are indicated only when the portion of the rotatable optically coded member 26 between the LED 29 and the phototransistor 31 is optically opaque.
  • the precise pattern of optically opaque and transmissive portions is chosen so that the phototransistor 31 produces an enable signal; i.e., a "logic 1" signal, only when the optically coded member 26, and consequently the mirror 18, is rotated to predetermined angular positions.
  • the angular positions are carefully sele'cted such that the apparatus 10 scans a bounded area in front of and closely beside the work vehicle 12 ignoring areas outside and behind the work vehicle 12.
  • the angular positions wherein it is desirable that the apparatus 10 be enabled are determined as follows, making reference now especially to Fig. 3.
  • the apparatus 10 detects obstacles directly forward of the work vehicle 12 because the radiant energy is being swept in front of the work vehicle 12 and any received reflected energy indicates that an obstacle is present.
  • the area scanned as the mirror progresses through angle A' is indicated by the shaded region included by angle A 1 and includes an area directly in front of but not beside the work vehicle 12.
  • any received reflected radiant energy can be ignored because the desired scan area has been exceeded.
  • angles B' and B' ' • prevents the apparatus 10 from detecting objects beside but not in front of the vehicle 12, thus allowing the vehicle to operate closely beside objects such as walls and other vehicles without detecting their presence and falsely indicating them as obstacles.
  • the apparatus 10 detects obstacles directly forward of the first and second spaced apart sides 13A,13B of the vehicle 12 because the produced radiant energy and any subsequent received radiant energy is reflected off a respective first or second stationary reflector 36,38. The produced radiant energy is directed outwardly from the corner of the work vehicle 12.
  • the stationary reflectors 36,38 allow the apparatus 10 to sense obstacles, such as a person or another vehicle, approaching one of the first or second spaced apart sides 13A,13B and close to the front of the work vehicle 12.
  • the areas scanned as the mirror 18 progresses through angles A' ' and A' ' * are indicated by the shaded regions included by angles A 1 * and A" 1 in Figure 3.
  • Each region respectively includes an area directly in front of either the right or left corner of the work vehicle 12 not encompassed in the region included by angle A', and an area closely outside the respective first or second spaced apart side 13A,13B.
  • the apparatus 10 is disabled from indicating sensed obstacles when the mirror 18 is scanning angle B" which is opposite the direction of travel.
  • the transducer 14' and rotatable reflector 16' are disposed such that the radiant energy is projected downwardly at an angle displaced from the central axis of rotation of the rotatable reflector 16', such that as the reflector 16' rotates, the radiant energy is projected along a partial conical path.
  • the output power of the transducer 14 producing the radiant energy is chosen such that the transducer 14 senses objects near the floor without sensing the floor itself. Because the radiant energy is projected downward, the apparatus 10 senses obstacles disposed at any elevation between the • reflector 16' and the floor.
  • a work vehicle 12 carries a load of materials in a factory.
  • the transducer 14 produces a beam of radiant energy and directs it towards the rotating reflector means 16 which projects the radiant energy outwardly from the vehicle 12.
  • the rotating reflector 16 directs the reflected radiant energy back to the transducer 14 which delivers a "logic 1" signal to the first input terminal of the AND gate 33.
  • the optically coded member 26 rotates between the LED 29 and the phototransistor 31. If the rotating reflector 16 is scanning a desired area, the portion of the optically coded member 26 between the LED 29 and the phototransistor 31 is optically transmissive.
  • the light produced by the LED 29 strikes the base of the phototransistor 31 and the phototransistor 31 produces a "logic 1" signal on its emitter lead which is connected to the second input terminal of the AND gate 33.
  • the "logic 1" output signal is sent to the vehicle logics circuit 34 which causes the vehicle 12 to take predetermined actions to avoid a collision.
  • the radiant energy is not reflected back to the transducer 14 and its output terminal has a "logic 0" signal.
  • the output terminal of the AND gate 33 is responsively also "logic 0" and the vehicle 12 continues on its course.
  • the rotating reflector 16 is scanning an undesired sensing area, such as the area opposite the direction of travel, the portion of the optically coded member 26 between the LED 29 and the phototransistor 31 is optically opaque. Because the light produced by the LED 29 does not reach the base of the phototransistor 31, the signal sent to the AND gate 33 is "logic 0". Therefore, the output of the AND gate 33 is also "logic 0" and the apparatus 10 is disabled from sending signals indicating that an object has been sensed to the vehicle logics circuit 34.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Dans l'appareil décrit (10), qui sert à détecter la présence d'obstacles sur la trajectoire d'un véhicule utilitaire (12), un transducteur (14) produit une énergie de rayonnement, reçoit l'énergie de rayonnement réfléchie par un obstacle et produit un signal de détection d'obstacle en réponse à la réception de l'énergie de rayonnement réfléchie. Un réflecteur rotatif (16) projette l'énergie de rayonnement produite par le transducteur (14) radialement vers l'extérieur depuis le véhicule utilitaire (12) et renvoie l'énergie de rayonnement réfléchie vers le transducteur (14). Un codeur (24) produit un signal de validation en réponse à des positions prédéterminées du réflecteur rotatif (17) et est disposé le long du même axe de rotation que le réflecteur optique (17). Une unité logique de commande de zone (32) reçoit le signal de détection d'obstacle et le signal de validation et produit un signal de commande de véhicule lorsque les deux signaux sont présents.
EP88910394A 1988-07-14 1988-10-17 Appareil de detection d'obstacles par balayage Withdrawn EP0377680A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/218,768 US4898927A (en) 1987-07-24 1988-07-14 Non-fusible polymer insoluble in organic solvents from 1,3,5,7-tetrathia-s-indacene-2,6-dithione
US218768 1988-07-14

Publications (1)

Publication Number Publication Date
EP0377680A1 true EP0377680A1 (fr) 1990-07-18

Family

ID=22816433

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88910394A Withdrawn EP0377680A1 (fr) 1988-07-14 1988-10-17 Appareil de detection d'obstacles par balayage

Country Status (3)

Country Link
EP (1) EP0377680A1 (fr)
JP (1) JPH03500452A (fr)
WO (1) WO1990000746A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4028789A1 (de) * 1990-09-11 1992-03-12 Bayerische Motoren Werke Ag Laserstrahleinrichtung i
DE4028788A1 (de) * 1990-09-11 1992-03-12 Bayerische Motoren Werke Ag Laserstrahleinrichtung ii
US5365163A (en) * 1992-09-29 1994-11-15 Minnesota Mining And Manufacturing Company Sensor array for circuit tracer
DE4345446C2 (de) * 1992-12-08 1998-07-30 Sick Ag Laserabstandsermittlungsvorrichtung
DE4340756C5 (de) * 1992-12-08 2006-08-10 Sick Ag Laserabstandsermittlungsvorrichtung
DE4303804C2 (de) * 1993-02-10 1996-06-27 Leuze Electronic Gmbh & Co Einrichtung zur Entfernungsmessung
US8352161B2 (en) * 2007-11-13 2013-01-08 Toyota Jidosha Kabushiki Kaisha Control device for internal combustion engine
DE202009012114U1 (de) * 2009-09-05 2011-02-03 Sick Ag Optoelektronischer Scanner
JPWO2011155002A1 (ja) * 2010-06-11 2013-08-01 村田機械株式会社 測距装置、および、走行車

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3423536C2 (de) * 1984-06-26 1986-09-11 Erwin Sick Gmbh Optik-Elektronik, 7808 Waldkirch Lichtelektrische Schutzzonenvorrichtung an einem Fahrzeug
SE451770B (sv) * 1985-09-17 1987-10-26 Hyypae Ilkka Kalevi Sett for navigering av en i ett plan rorlig farkost, t ex en truck, samt truck for utovning av settet
US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9000746A1 *

Also Published As

Publication number Publication date
WO1990000746A1 (fr) 1990-01-25
JPH03500452A (ja) 1991-01-31

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