JP2016161572A - 侵入オブジェクトを検出するシステムおよび方法 - Google Patents
侵入オブジェクトを検出するシステムおよび方法 Download PDFInfo
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- JP2016161572A JP2016161572A JP2016030549A JP2016030549A JP2016161572A JP 2016161572 A JP2016161572 A JP 2016161572A JP 2016030549 A JP2016030549 A JP 2016030549A JP 2016030549 A JP2016030549 A JP 2016030549A JP 2016161572 A JP2016161572 A JP 2016161572A
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- Prior art keywords
- grid
- detector module
- grating
- intruding object
- determining
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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
- G01S17/003—Bistatic lidar systems; Multistatic lidar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- 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
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/46—Indirect determination of position data
-
- 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
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- 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
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- 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
- G01S7/4808—Evaluating distance, position or velocity data
Abstract
Description
14 FOR(関心フィールド)
16 検出器モジュール
18 UAV
20 第1の格子
22 第1の垂直ライン
24 第2の垂直ライン
26 第1の水平ライン
28 第2の水平ライン
30 第2の格子
32 第2の格子の第1の垂直ライン
34 第2の格子の第2の垂直ライン
36 第2の格子の第1の水平ライン
38 第2の格子の第2の水平ライン
40 相対航行システム
44 検出器モジュール
46 二次光源
48 プロセッサ
50 通信リンク
52 遠隔プロセッサ
60 電源線
62 柱
64 樹
Claims (20)
- 相対航行システム(40)のための侵入検出の方法であって、
格子を画定するラインの集合を格子生成器(10)から3次元空間内に繰り返して投影して、前記投影された格子により制限されるフィールドを画定するステップであって、前記ラインは前記格子上の事前決定された点を識別するように構成された格子データでエンコードされている、画定するステップと、
前記フィールド内の侵入オブジェクトの存在を決定するステップと
を含む、方法。 - 前記侵入オブジェクトの前記存在を決定するステップは、前記侵入オブジェクトから反射される再帰反射光または後方散乱光を検出するステップを含む、請求項1記載の方法。
- 前記侵入オブジェクトの前記存在を決定するステップは、前記検出された光から点群イメージを形成するステップを更に含む、請求項2記載の方法。
- 前記点群イメージが処理され、前記侵入オブジェクトが識別される、請求項3記載の方法。
- 前記侵入オブジェクトの前記存在を決定するステップは、前記格子の目的の受信機である検出器モジュール(16)により、前記侵入オブジェクトから偏向する前記投影された格子の少なくとも一部の多重反射を検出するステップを含む、請求項1記載の方法。
- 前記侵入オブジェクトの前記存在を決定するステップは、前記格子の目的の受信機である検出器モジュール(16)により、前記生成された格子の一部がブロックされていることを検出するステップ、または前記格子からの光強度の低減を検出するステップを含む、請求項1記載の方法。
- 二次光源(46)から前記フィールドへと光を投影するステップと、前記光の反射に基づいて前記侵入オブジェクトの前記存在を決定するステップとを更に含む、請求項1記載の方法。
- 前記二次光源(46)からの光を投影する前記ステップは、前記格子を繰り返して投影する間に行われる、請求項1記載の方法。
- 前記侵入オブジェクトの前記存在を決定するステップは、前記格子生成器(10)からの前記侵入オブジェクトの方位、高度、または範囲を決定するステップを更に含む、請求項1記載の方法。
- 前記侵入オブジェクトを、回避すべき障害物としてまたは目印を提供する既知オブジェクトとして分類するステップを更に含む、請求項1記載の方法。
- 侵入オブジェクトを検出する方法であって、
格子を画定し、かつ前記格子上の事前決定された点を識別するように構成された格子データでエンコードされたラインの集合を、送信側オブジェクト上に位置する格子生成器(10)から繰り返して投影するステップと、
前記投影された格子の少なくとも一部を、前記受信側オブジェクト上に位置する検出器モジュール(16)上で受信するステップと、
前記格子内および前記送信側オブジェクトと前記受信側オブジェクトとの間に位置する侵入オブジェクトの存在を、前記投影された格子の少なくとも1つの特徴に基づいて決定するステップと
を含む、方法。 - 前記侵入オブジェクトの前記存在を決定するステップは、前記格子の一部が前記侵入オブジェクトによりブロックされていることを検出するステップを含む、請求項11記載の方法。
- 相対航行格子を3次元空間へと投影して、フィールドを画定する格子生成器(10)と、
光を検出し、かつ前記検出された光に関連する信号を出力するように構成された検出器モジュール(44)と、
前記検出器モジュール(44)に操作可能に連結され、かつ前記信号を受信し、前記検出された光に関連する前記信号が侵入オブジェクトの前記存在を示すときそのことを決定するように構成されたプロセッサ(48)と
を備える、相対航行システム(40)。 - 前記検出器モジュール(44)は、前記格子生成器(10)の近くに位置する、請求項13記載のシステム。
- 前記検出器モジュール(44)は、前記侵入オブジェクトから反射される再帰反射光または後方散乱光を検出する、請求項14記載のシステム。
- 前記プロセッサ(48)は、前記検出された光に関連する信号を受信し、前記信号から点群イメージを形成する、請求項13記載のシステム。
- 前記検出器モジュール(44)が前記格子の目的の受信機である受信側オブジェクトに操作可能に連結され、かつ前記検出器モジュール(44)が前記格子からの多重反射または光の損失を検出するように構成される、請求項13記載のシステム。
- 二次光源(46)を更に備え、前記検出器モジュール(44)が前記二次光源(46)の投影に基づいて前記侵入オブジェクトの前記存在を決定する、請求項13記載のシステム。
- 前記二次光源(46)は、未走査レーザドット、走査レーザドット、またはフラッシュレーザを含む、請求項18記載のシステム。
- 前記プロセッサ(48)は、前記格子生成器(10)からの前記侵入オブジェクトの方位、高度、または範囲を決定するように構成される、請求項13記載のシステム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US14/633,231 | 2015-02-27 | ||
US14/633,231 US9435635B1 (en) | 2015-02-27 | 2015-02-27 | System and methods of detecting an intruding object in a relative navigation system |
Publications (1)
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JP2016161572A true JP2016161572A (ja) | 2016-09-05 |
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JP2016030549A Ceased JP2016161572A (ja) | 2015-02-27 | 2016-02-22 | 侵入オブジェクトを検出するシステムおよび方法 |
Country Status (5)
Country | Link |
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US (1) | US9435635B1 (ja) |
EP (1) | EP3062123B1 (ja) |
JP (1) | JP2016161572A (ja) |
BR (1) | BR102016002937A2 (ja) |
CA (1) | CA2921252A1 (ja) |
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EP3062123A1 (en) | 2016-08-31 |
BR102016002937A2 (pt) | 2016-08-30 |
EP3062123B1 (en) | 2017-11-08 |
CA2921252A1 (en) | 2016-08-27 |
US20160252342A1 (en) | 2016-09-01 |
US9435635B1 (en) | 2016-09-06 |
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