EP1062524A1 - Systeme optique destine a la detection de la position d'un objet - Google Patents

Systeme optique destine a la detection de la position d'un objet

Info

Publication number
EP1062524A1
EP1062524A1 EP99919045A EP99919045A EP1062524A1 EP 1062524 A1 EP1062524 A1 EP 1062524A1 EP 99919045 A EP99919045 A EP 99919045A EP 99919045 A EP99919045 A EP 99919045A EP 1062524 A1 EP1062524 A1 EP 1062524A1
Authority
EP
European Patent Office
Prior art keywords
light
sensor system
optical sensor
photoelectric converter
imaging element
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Withdrawn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
EP99919045A
Other languages
German (de)
English (en)
Inventor
Wendelin Feiten
Laszlo Domjan
Janos Giber
Laszlo Kocsanyi
Peter Richter
Gabor Szarvas
Sandor Varkonyi
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.)
Siemens AG
Original Assignee
Siemens AG
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
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP1062524A1 publication Critical patent/EP1062524A1/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Withdrawn legal-status Critical Current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
    • 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
    • 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
    • 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

Definitions

  • Optical sensor system for determining the position of an object.
  • the invention relates to an optical sensor system for exploring objects and for determining their positions.
  • This sensor system can preferably be arranged on autonomous mobile systems in order to enable them to find their way in an unknown environment.
  • Optical sensor systems which perform the detection of objects by triangulation are known from the prior art.
  • a special measurement method is, for example, to carry out an active optical triangulation with strip lighting.
  • the main elements of such a measuring system consist, for example, of a light source that illuminates a strip in space, an optical imaging system, a two-dimensional image receiver and electronics for processing and evaluating the images 2 signals received by the receiver.
  • a light source that only illuminates a strip of space.
  • An important feature of this light source is the surface density of its emitted light output. The requirements for such light sources are that the power density must be large enough to be able to recognize even dark objects.
  • Another feature of such light sources is the thickness of the illuminated strip, which influences both the size of the detectable spatial area and the resolution when measuring the position of detected objects.
  • a cylindrical lens in front of a collimator lens which collimates the light from a laser source or an incandescent, halogen or arc lamp; the parallelization of light from an incandescent or halogen lamp with the aid of a collimator lens and its fanning out by a cone mirror.
  • the imaging system used must above all meet two main requirements. On the one hand, it has to map the spatial area to be measured onto the surface of the two-dimensional image detector; on the other hand, it must ensure the desired position resolution with regard to the objects to be measured. In this context, the position resolution capability is understood to be the smallest distance between objects, which can still be resolved after being imaged on the optoelectric converter.
  • the distance in the image plane between the images of the backscattered light from two neighboring objects that are close to the imaging system is shown larger than with two neighboring objects that are further away from the imaging system. This leads to the position resolution becoming increasingly poorer with increasing distance from the lens or imaging system.
  • normal or aspherical refractive surfaces such as are common with normal lenses, objects that are far away cannot be imaged sufficiently from one another by the imaging system.
  • the imaging of such objects would require the use of an optical imaging element optimized for this special purpose, which is not known from the literature, however.
  • PAL optics-based instruments for space research and robot technology in lasers and optoelectronics 28 (5) / 1996, pages 43-49 a PAL lens for the use of navigation tasks at au is known - use tonomobile mobile robots.
  • Greguss is a wide-angled imaging element that contains two reflective and one refractive aspherical surface and that is capable of imaging an entire half-space.
  • the application of PAL optics as an imaging element of an active triangulating obstacle detection system for robots is also described there.
  • the invention has for its object to provide an optical sensor system that on mobile vehicles such.
  • B. autonomous mobile robots can be used, which is technically simple and which enables detection of obstacles in all directions around the vehicle, whereby 5 whose imaging system has both the position of objects in the vicinity of the system at distances of less than 50 cm, and in the far area of the system at distances of more than 2 m, a sufficient position resolution of approximately 5-10 cm and an angular resolution of ⁇ 1 °.
  • the sensor system described advantageously consists of light sources which illuminate the surroundings of the autonomous mobile unit in the form of strips around the unit, since this enables simultaneous detection of obstacles or objects around the unit.
  • a plurality of light sources arranged one above the other can advantageously also be provided, which are switched on at different intervals, so that different height dimensions of the room can be detected or measured.
  • the light, which is backscattered by objects that are illuminated is advantageously carried out by using a special wide-angle imaging element that has only a single curved, spherical or aspherical, reflective surface for guiding the light in connection with an objective and a filter, as well as a photoelectric converter , the environment being projected onto the transducer by the imaging system.
  • the best spatial coverage and the best position resolution is advantageously achieved by describing the shape of the aspherical reflecting surface of the wide-angle imaging element with the aid of spline functions.
  • the spline function describes the shape of the imaging element in the following way: the spline function expands areas that are further away depending on the type of lens used.
  • the 6 distance ranges and the partial areas of the aspherical imaging element that are valid for the respective distance areas are described in such a way that the neighboring polynomial functions in the respective transition points of the detection areas have the same value and the same derivatives, whereby the function used becomes continuous and unbreakable.
  • Figure 1 shows an embodiment of a sensor system.
  • Figure 2 shows a possible arrangement of a light source used in side view.
  • Figure 3 shows a possible arrangement for generating a light streak around the sensor system.
  • Figure 4 shows a further embodiment for producing a light strip around the sensor system.
  • Figure 5 shows a further embodiment for producing a light strip around the imaging device.
  • Figure 6 shows a possible installation of the sensor system on a vehicle or robot in a side view.
  • Figure 7 shows a top view of the sensor system and a vehicle.
  • Figure 8 shows a sensor system for use with a one-dimensional photoelectric converter.
  • Figure 9 shows an embodiment with a two-dimensional optical position detector.
  • FIG. 1 shows, there is a possible embodiment of a sensor system described, which illuminates a room strip all around from 4 light sources 1.
  • these light sources When arranging these light sources for illuminating a light strip, it should be noted in particular that these light strips lie in a plane which is essentially plane-parallel to the The surface on which the autonomous mobile unit to which the sensor is attached moves. If this plane-parallel arrangement is not possible, the triangulation is made more difficult by taking into account when evaluating the reflected light beams that they have hit the reflecting objects at different angular positions, so that the triangulation is used to determine the distance of the objects result in different triangulation angles.
  • the light sources 1 generate light strips 2 that illuminate the room.
  • the imaging element 4 used projects the light backscattered from the objects 3 through the lens 6 onto the photoelectric converter 7, which in this arrangement is designed as a two-dimensional CCD image detector of a camera 5.
  • the photoelectric converter 7 is connected to an evaluation electronics 8, for example in a computer, which is part of the sensor system for determining object positions.
  • the evaluation electronics 8 determine the position of objects 3 based on the image projected on the photoelectric converter 7 using the principle of active optical 8 triangulation, the imaging properties of the objective 6 and the imaging element 4 in particular being used in conjunction with the height of the plane at which the light strip is emitted.
  • the sensor system is advantageous on mobile vehicles 12, such as. B. used a mobile robot.
  • the current information about the control of the vehicle 12 or the robot can be determined by the evaluation electronics 8 and, based on this information, the further travel path of the unit can be planned.
  • This information gives z. B. the positions of objects 3, under which the vehicle 12 moves through, or between which the vehicle 12 must move.
  • the optical axis of the imaging element 4 is advantageously aligned perpendicular to the light strip 2, which are emitted by the light sources 1.
  • the imaging element 4 is designed as such an optical element which has a spherical or aspherical reflecting surface 9, the outside of the reflecting surface 9 being used for imaging the reflected light beams in the imaging system.
  • the light strips emitted by the light sources and light beams reflected by the objects 3 are projected via the imaging element 4 through the lens 3 onto the light detector 7, as is shown schematically by the numbered beam paths.
  • the distance of the light rays incident on the photodetector 7 is dependent on the imaging properties of the objective and the imaging element 4 and is characteristic of the distance of the objects 3 from the sensor system.
  • any two-dimensional image detector 7 can be used.
  • a photodiode matrix can be used as a photoelectric converter 7 instead of a two-dimensional CCD sensor.
  • 9 Figure two shows a possible basic embodiment of the applied light source 1 in a side view.
  • the light source 1 shown in Figure 2 consists of a cylindrical mirror 11, which suitably has an aspherical cross section and consists of light emitters 10, which can be light-emitting diodes, for example. These light emitters are located in the focus line of the cylinder mirror 11.
  • the light emitters 10 are arranged one after the other in the focus line of the aspherical cylinder mirror 11, so that the light-emitting surfaces of the light emitters 10 point in the direction of the aspherical cylinder mirror 11.
  • the light emitted by the light emitters 10 first reaches the aspherical cylindrical mirror 11 and then emerges as a strip of light 2 projected through the mirror.
  • the light source 1 illuminates a parallelized light strip.
  • LED light-emitting diodes
  • FIG. 3 shows, there is a possible basic arrangement for generating a light strip 2 from part of a cylinder mirror.
  • the cylinder mirror 11 is in a so-called off-axis arrangement with the light emitters 10, which is why only part of the cylinder mirror 11 previously described in FIG. 2 is used.
  • the light emitters 10 are advantageously designed as LEDs and are arranged in succession on the focal line of the aspherical cylinder mirror in such a way that their light-emitting surfaces are directed in the direction of the aspherical cylinder mirror 11.
  • the parallelized light beam valid for the sensor system can also be generated. This is indicated by the beam path provided with the arrows. 1 0
  • FIG. 4 Another possible solution for producing a light strip 2 which shines all around the imaging device is that a parallelized light beam is set in rotation.
  • the rotating light beam 2 is generated in such a way that both the light emitter 10 and the collimator optics 14 are set in rotation about an axis t.
  • a further embodiment of this type can consist, for example, in that both the light emitter 10 and the collimator optics 14 are fixed and the light steel 2 is moved all around with the aid of a rotating mirror.
  • Figure 5 shows a further possible embodiment for producing a light strip 2 emitted all around.
  • the light strip 2 is generated by a conical mirror 15.
  • the light emitted by the light emitter 10 is first parallelized by collimator optics 14 and then fanned out into the desired light strip 2 by a conical mirror 15.
  • an incandescent lamp, halogen lamp, arc lamp or laser can be used as the light emitter 10.
  • Figure 6 shows the possible structure of a sensor system on an autonomous mobile unit 12, which can be, for example, a service robot.
  • Figure 6 shows a side view.
  • a plurality of light strips arranged one above the other, which are emitted by a plurality of light sources 1 lying one above the other, can advantageously be generated on mobile systems.
  • the light strips 2 are preferably generated at different times and illuminated in a pulsed manner.
  • two imaging elements 4 are preferably used with the cameras 5 associated with them 11 provided at two opposite corners of the mobile vehicle 12.
  • the evaluation electronics ensure that when triangulating obstacles, the corresponding altitude of the currently switched on light source is used to evaluate the triangulation results.
  • Figure 7 shows the top view of a mobile vehicle 12 provided with the sensor system, e.g. B. A robot with the reception area of the detection system 13.
  • the individual imaging elements 4 are attached to 2 opposite corners of the mobile system 12. If two imaging elements 4 are arranged in the manner shown in Figure 7, the detection area 13 of the optical sensor system can be extended to the entire environment of the mobile system 12 or to the entire space surrounding the mobile system.
  • Figure 8 shows a possible embodiment of the photoelectric converter 7 in the form of a one-dimensional photoelectric converter 7.
  • the light from the imaging element 4 is projected through the lens 6 onto the one-dimensional light detector, which moves in the image plane or is advantageously rotated.
  • This photoelectric converter 7 can be used, for example, as a one-dimensional position-sensitive detector, e.g. B. as a CCD or PSD. Because the one-dimensional light detector is moved in the image plane or is advantageously rotated, it detects the light intensity distribution in the entire image plane, whereupon the imaging element 4 and the lens 6 image the area around the mobile vehicle 12. The measurement results obtained in this way can preferably be temporarily stored or the evaluation is carried out synchronously with the speed of the photoelectric sensor.
  • Figure 9 shows another possible embodiment of a photoelectric converter 7, which here is a two-dimensional positive 12 position-sensitive detector is shown.
  • the photoelectric converter 7 is designed as a two-dimensional position-sensitive detector, which is located behind the lens 6 in its image plane.
  • an impermeable disk 16 in this embodiment, which is provided with a gap 17.
  • the gap 17 on the opaque pane 16 only allows the light from a well-defined spatial area to pass through, for example with the opening angle of 1 °. In this way, a directional resolution capability with an arbitrarily small angle can be achieved.
  • the slit width to be selected depends on how much light is reflected back, or with what sensitivity the detector works and with what intensity the light strip is illuminated by the light source.
  • the use of the disk 16 is not necessary because the directional resolution is already ensured by the rotating light source.
  • the advantage of the sensor system described is that its reception range is larger than in known embodiments and that the image is more uniform than in other known triangulating sensor systems. The wide-angle image enables the positions of objects that are far from the sensor system to be measured.
  • the special shape of the imaging element 4 ensures the uniform resolution of the distance measurement in the entire detection range of the sensor system by virtually correcting the lack of resolution of the lens 6 in the distance of the sensor system, because it scatters reflected light rays and thus pulls apart more distant objects .

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne une source lumineuse spéciale produisant une bande lumineuse horizontale. Cette bande lumineuse est réfléchie par des objets situés dans l'environnement du système de détection et dirigée sur un convertisseur photoélectrique via un dispositif imageur spécial. Ce dispositif imageur permet de représenter encore plus éloignés des objets déjà plus éloignés afin d'obtenir par un objectif courant de résolution linéaire une meilleure résolution de la position des objets sur toute la surface image, ces objets étant encore plus loin du système de détection. On utilise avantageusement comme éléments émetteurs de lumière des diodes électroluminescentes placés sur l'axe optique d'un miroir cylindrique. Les signaux électriques cédés par le convertisseur photoélectrique sont exploités en termes de position par une unité d'évaluation qui détermine par triangulation la distance des objets qui ont réfléchi la lumière.
EP99919045A 1998-03-10 1999-03-09 Systeme optique destine a la detection de la position d'un objet Withdrawn EP1062524A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19810368 1998-03-10
DE19810368 1998-03-10
PCT/DE1999/000620 WO1999046612A1 (fr) 1998-03-10 1999-03-09 Systeme optique destine a la detection de la position d'un objet

Publications (1)

Publication Number Publication Date
EP1062524A1 true EP1062524A1 (fr) 2000-12-27

Family

ID=7860414

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99919045A Withdrawn EP1062524A1 (fr) 1998-03-10 1999-03-09 Systeme optique destine a la detection de la position d'un objet

Country Status (6)

Country Link
EP (1) EP1062524A1 (fr)
JP (1) JP2002506976A (fr)
KR (1) KR20010041694A (fr)
CN (1) CN1292878A (fr)
CA (1) CA2322419A1 (fr)
WO (1) WO1999046612A1 (fr)

Cited By (7)

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US10860029B2 (en) 2016-02-15 2020-12-08 RobArt GmbH Method for controlling an autonomous mobile robot
US11175670B2 (en) 2015-11-17 2021-11-16 RobArt GmbH Robot-assisted processing of a surface using a robot
US11188086B2 (en) 2015-09-04 2021-11-30 RobArtGmbH Identification and localization of a base station of an autonomous mobile robot
US11550054B2 (en) 2015-06-18 2023-01-10 RobArtGmbH Optical triangulation sensor for distance measurement
US11709489B2 (en) 2017-03-02 2023-07-25 RobArt GmbH Method for controlling an autonomous, mobile robot
US11768494B2 (en) 2015-11-11 2023-09-26 RobArt GmbH Subdivision of maps for robot navigation
US11789447B2 (en) 2015-12-11 2023-10-17 RobArt GmbH Remote control of an autonomous mobile robot

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Publication number Priority date Publication date Assignee Title
US11550054B2 (en) 2015-06-18 2023-01-10 RobArtGmbH Optical triangulation sensor for distance measurement
US11188086B2 (en) 2015-09-04 2021-11-30 RobArtGmbH Identification and localization of a base station of an autonomous mobile robot
US11768494B2 (en) 2015-11-11 2023-09-26 RobArt GmbH Subdivision of maps for robot navigation
US11175670B2 (en) 2015-11-17 2021-11-16 RobArt GmbH Robot-assisted processing of a surface using a robot
US12093050B2 (en) 2015-11-17 2024-09-17 Rotrade Asset Management Gmbh Robot-assisted processing of a surface using a robot
US11789447B2 (en) 2015-12-11 2023-10-17 RobArt GmbH Remote control of an autonomous mobile robot
US10860029B2 (en) 2016-02-15 2020-12-08 RobArt GmbH Method for controlling an autonomous mobile robot
US11709497B2 (en) 2016-02-15 2023-07-25 RobArt GmbH Method for controlling an autonomous mobile robot
US11709489B2 (en) 2017-03-02 2023-07-25 RobArt GmbH Method for controlling an autonomous, mobile robot

Also Published As

Publication number Publication date
WO1999046612A1 (fr) 1999-09-16
CN1292878A (zh) 2001-04-25
JP2002506976A (ja) 2002-03-05
KR20010041694A (ko) 2001-05-25
CA2322419A1 (fr) 1999-09-16

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