• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    tracking system and system to monitor the speed of one or more targets. the invention relates to an intelligent laser tracking system and method for monitoring mobile and fixed position traffic and enforcement applications. the system described here can autonomously track multiple target vehicles with a highly accurate laser-based speed measurement system or, under manual control via a touch screen, select a specific target vehicle of interest. in a mobile application the police vehicle speed is determined via the obd ii can port and updated for accuracy via an onboard gps subsystem. the system and method of the present invention simultaneously provides both narrow and wide images of a target vehicle for improved evidential purposes. a new low inertia pan / tilt mechanism provides extremely fast and accurate target vehicle tracking and can compensate for geometric errors and the cosine effect.
    公开号:BR112014005430B1
    申请号:R112014005430-4
    申请日:2012-09-07
    公开日:2020-11-03
    发明作者:Jiyoon Chung
    申请人:Laser Technology, Inc.；Kama-Tech (Hk) Limited；
    IPC主号:
    专利说明:

    RELATIVE APPLICATION
    [001] This application refers to and claims priority benefit for United States Patent Application Number 13 / 228,250 filed on September 8, 2011, which is hereby incorporated by reference in its entirety for all purposes as if it were fully presented here. COPYRIGHT NOTE / PERMISSION
    [002] A portion of the description in this patent document contains material which is subject to copyright protection. The copyright owner has no objection to anyone's facsimile reproduction of the patent document or patent description as it appears in the United States Patent and Trademark Office patent files or records, but otherwise reserves all rights. of copyright whatever they may be. The following note applies to the pseudocode described here, including the drawing figures where applicable: Copyright © 2011, Laser Technology, Inc. BACKGROUND OF THE INVENTION
    [003] The present invention relates, in general, to the field of traffic monitoring and enforcement systems. More specifically, the present invention relates to an intelligent laser tracking system and method for monitoring mobile and fixed position traffic and enforcement applications.
    [004] The police have been using radar and laser speed measurement devices to determine the speed of vehicles in traffic enforcement operations for many years now. With respect to radar-based devices, these generally work so that a microwave signal is emitted in the direction of a moving vehicle and a reflection of the target is returned to the device which then uses Doppler shift in the return signal to determine the vehicle speed. Radar-based devices have an advantage over laser-based speed guns in that they emit a very large signal energy cone and therefore do not require precise aiming at the target vehicle. As such, they are well suited for fixed and mobile applications while requiring little, if any, manual operation to aim the device.
    [005] On the other hand, laser-based speed guns employ the emission of a series of short pulses that comprise a very narrow beam of monochrome laser energy and then measure the flight time of the pulses from the device to the target vehicle and back. These laser pulses move at the speed of light which is approximately 30 cm / ns (984,000.00 feet / s). The laser-based devices then determine very precisely the time from when a specific pulse was emitted until the reflection of that pulse is returned from the target vehicle and divides it in two to determine the distance from the vehicle. By emitting a series of pulses and determining the change in distance between samples, the vehicle's speed can be determined very quickly and with great precision.
    [006] Due to the narrow beam width of laser-based speed guns, these have so far been predominantly relegated to portable units which must be manually aimed at a specific target vehicle. This being the case, they were not able to be used in standalone applications where an operator is not manually aiming the device. Also, in mobile applications where the officer may be driving a vehicle himself, he is then unable to divert his attention from that function in order to track and aim a laser-based speed measurement device at a speeding driver. suspect without saying tracking multiple targets.
    [007] In fixed and semi-fixed uses of laser-based speed detection devices, such as mounted overpass applications, it is important that the laser pulses are directed to a single point on an approaching target vehicle as the frontal surface angles can vary between, for example, that of the grille (0i) and the windshield (02). Where the distance to the target vehicle is measured by the laser-based device is a distance M at an angle q> and the true distance to the target is D, D is then equal to M * (COSψ + SENcp / TG (Oi or 02 )).
    [008] Thus the actual distance D can vary, and with this the calculated speed of the target vehicle. Usually the angle <p is less than 10 ° and COScp is then almost 1. This can reduce the calculated speed of the target vehicle, in effect giving a detected speed advantage of 1% to 2% for the target vehicle as indicated below with relation to the "cosine effect". However, the cosine effect can be minimized if an accurate tracking path is maintained. On the other hand, it should be noted that the SENcp / TG value (0i or 02) can be greater than a normally acceptable margin of error (for example, 0.025 (2.5%)) and an even greater error can be found if the laser pulses are not consistently aimed at a single point on the target vehicle. As used herein, the SEN portion (p / TG (0i or 02) of the equation is referred to as a geometric error.
    [009] Both speed measurement devices based on radar and laser can be used to measure the speed of vehicles approaching or moving away from both fixed and mobile platforms. If the target vehicle is traveling directly (ie, on a collision course) in the direction of the device, the relative speed detected is the actual speed of the target. However, as is most often the case, if the vehicle is not moving directly towards (or away from) the device but at an angle (α), the target's relative speed relative to that determined by the device will be slightly lower than than your real speed. This phenomenon is known as the aforementioned cosine effect because the measured speed is directly related to the cosine of the angle between the speed detection device and the direction of travel of the vehicle. The greater the angle, the greater the speed error and the lower the measured speed. On the other hand, the closer the angle (o) is to 0o, the closer the measured speed is to the actual target vehicle speed. SUMMARY OF THE INVENTION
    [0010] The present invention advantageously provides an intelligent laser tracking system and method for mobile or fixed position traffic monitoring and enforcement applications. The system described here can autonomously track multiple target vehicles with a highly accurate laser-based speed measurement system or, under manual control via a touch screen, select a specific target vehicle of interest.
    [0011] The system of the present invention provides extremely accurate tracking of target vehicles using an extremely fast pan / tilt mechanism which is stabilized through the use of an on-board gyroscope and inclinometer. The pan / tilt mechanism uses respective brushless pan and tilt DC motors (BLDC) which provide high torque and efficiency. The relatively heavy engines are mounted on the pan / tilt mechanism base plate to minimize inertia and decrease the mass of the mobile pan and tilt plates on which the laser locator of the high performance laser speed measuring subsystem and the visual sensor subsystem are affixed.
    [0012] In a mobile implementation of the present invention, the police vehicle on which the system is mounted has its own speed loaded into the system via the onboard diagnostic controller (CAN) area network port (OBD II) of the vehicle. Increased accuracy of this information is ensured by updating the speed of the police vehicle through an appropriate application of a global positioning system (GPS) subsystem to correct speed data for wear and tire pressure. Conveniently, the system of the present invention can be mounted within a standard police vehicle light bar wrapper or in other locations to provide both a front and rear view of traffic.
    [0013] The intelligent laser tracking system of the present invention also ensures that the laser is consistently aimed at a single specific point on the target vehicle to prevent geometric errors. Furthermore, the system and method of the present invention can precisely compensate for the cosine effect when the target vehicle is moving at an angle to the system.
    [0014] In addition to mobile modalities of the present invention for use in a police vehicle, the system of the present invention can also be mounted on a tripod or other device in a fixed or stationary location adjacent to one or more vehicle traffic lanes while while still providing accurate targeting of multiple target vehicle speeds, distances and angles.
    [0015] The image sensors of the present invention provide both wide and narrow views of target vehicles simultaneously as well as providing motion clips for vehicle speed evidence and evidence purposes. In a representative modality described here, narrow and wide vision images can be obtained using dual sensors, lenses and an associated multiplexer. A dual multiplexed camera system is able to achieve a rapid transition between both narrow and wide views. Optionally, if a single lens system is implemented, the lens control of the system camera can be provided for the zoom, iris and focus functions. Remote monitoring of the system is possible through an input / output (I / O) interface such as Ethernet, WiFi, serial interfaces such as RS232 / 485, universal serial bus (USB) and the like. The image sensors employed in the system can be remote or fully integrated and a remote monitoring functionality is also provided.
    [0016] In addition to the aforementioned uses of the system of the present invention for target vehicle speed monitoring, the system can also be used to increase the safety of roadside police officers in such applications as construction zone and area scanning for collision avoidance and the like. Furthermore, the system of the present invention can also be used as a low-cost three-dimensional (3D) scanner for calculating stacking volume, positioning airliner for aircraft, accident reconstruction and other applications.
    [0017] Specifically described here is a tracking system, which comprises a processor, a visual sensor subsystem coupled to the processor and a laser speed measurement subsystem also coupled to the processor. A panning I tilt subsystem is coupled to the processor and mobile supporting the visual sensor and laser speed measurement subsystems.
    [0018] Also specifically described here is a system for monitoring the speed of one or more target vehicles, which comprises a processor, a laser speed measurement subsystem attached to the processor and a visual sensor subsystem attached to the processor. A pan / tilt subsystem is also attached to the processor and is operative to autonomously track one or more target vehicles based on the input from the visual sensor subsystem. The system determines the speed of one or more target vehicles based on the input of the laser speed measurement subsystem. BRIEF DESCRIPTION OF THE DRAWINGS
    [0019] The aforementioned and other characteristics and objects of the present invention and the way to obtain them will become more apparent and the invention itself will be better understood by reference to the following description of a preferred modality taken in conjunction with the accompanying drawings, in which : Figure 1 is a high-level functional block diagram of a representative modality of the intelligent laser tracking system and method for mobile traffic monitoring and enforcement applications of the present invention; Figures 2A and 2B are representative logical flowcharts for a possible implementation according to the system and method of the previous figure; Figure 3A is a front perspective view of an embodiment of the intelligent laser tracking system of the present invention that illustrates its visual sensor subsystem, the laser speed measurement subsystem and the intelligent tilt I panoramic subsystem; Figure 3B is a partially elevated front elevation view of the modality of the preceding figure illustrating the tilt plate and the panning plate on which the visual sensor subsystem and the laser speed measurement subsystem are controllably mounted including the details the tilting mechanism of the smart pan / tilt subsystem; Figure 3C is a rear perspective view of the mode of the preceding figures which includes details of the tilting mechanism of the smart pan / tilt subsystem; Figure 4 is a partially cross-sectional view of a police vehicle light bar that includes the embodiment of the intelligent laser tracking system of the present invention illustrated in Figures 3A to 3C mounted thereon to allow both front and rear views of vehicular traffic. in a mobile or stationary police vehicle; Figure 5 A and 5B are respectively rear and top views of another embodiment of the intelligent laser tracking system of the present invention for possible traffic monitoring applications mounted on a stationary tripod; Figure 6 illustrates the possible traffic monitoring function of a mobile modality of the intelligent laser tracking system of the present invention when mounted on a police vehicle in which the speed of multiple target vehicles can be autonomously tracked without operator input or manually canceled. to select a certain vehicle as a target; Figure 7 illustrates the possible traffic monitoring function of a stationary modality of the intelligent laser tracking system of the present invention as it can be mounted on a tripod to automatically track and provide the speed of multiple target vehicles across multiple traffic lanes; Figures 8A and 8B are broad views and narrow views respectively representative of the images of one or more target vehicles that are obtainable through the use of suitably integrated dual image sensors that form a portion of the visual sensor subsystem in a representative mode of the tracking system intelligent laser light of the present invention; Figure 9A is a top perspective view of a portion of an alternative embodiment of the system of the present invention that illustrates the laser speed measurement subsystem and separate wide and narrow vision cameras; and Figures 9B and 9C are respective front and rear views of the wide-view and narrow-view cameras separate from the preceding figure showing the associated lenses and sensors, respectively. DESCRIPTION OF A REPRESENTATIVE MODE
    [0020] Referring now to Figure 1, a high-level functional block diagram of a representative mode of the system and intelligent laser tracking method for mobile traffic monitoring and enforcement applications of the present invention is shown. System 100 comprises a central processing unit (CPU), a microcontroller (MCU) or microprocessor (MPU) 102 which, in a representative embodiment, can comprise one of the 600 MHz OMAP 34xx, 35xx or 36xx series of application processors performance instruments available from Texas Instruments, Inc.
    [0021] A visual sensor subsystem 104 is bidirectionally coupled to the MPU 102 by one or more image buses as illustrated in which an intelligent pan / tilt subsystem 106 is also bidirectionally coupled. The visual sensor subsystem 104 can be made physically detachable from the rest of the unit if desired, a high performance laser speed measurement subsystem 108 is also bi-directionally coupled to the MPU 102 to provide distance and speed measurement data between system 100 and a target vehicle 128.
    [0022] A controller area network (CAN) / onboard diagnostics II (OBD II) 110 interface for a vehicle diagnostic port (for example, on a police vehicle 130) is also coupled to MPU 102 as well as a 112 touch screen for viewing and operator input. Touch screen 12 can also be made detachable from the rest of the unit if desired. A global positioning system (GPS) subsystem 116 also provides input to MPU 102 while an input / output (I / O) interface 118, such as an Ethernet, WiFi, serial port (for example, RS232 / 485 ), universal serial bus (USB) or other interface couples external devices in system 100 through MPU 102.
    [0023] Backup storage for system 100 may be provided by means of a storage device 120 such as an SD card or similar non-volatile storage devices if removable or otherwise. System 100 is powered through a power submodule 122 which can comprise the vehicle's electrical system operating in a mobile embodiment of the present invention, an external power source (e.g., a car battery or generator) 124 e / or a backup system to prevent data loss such as a 7.2 volt lithium ion battery (Li-ion) 126.
    [0024] The visual sensor subsystem 104 comprises, in a representative embodiment of the present invention, a 5.0 megapixel image sensor that functions as a wide vision camera 140 and another 5.0 megapixel image sensor that functions as a narrow vision camera 142. These two sensors are coupled to the input of an interface and low voltage differential signaling multiplexer (LVDS) 144 that functions as a data serializer, which, in turn, is coupled over a connection of two wires to an LVDS 148 interface deserializer for 140,142 wide-view and narrow-view sensors that function as remote camera devices. In order to switch between narrow to wide (or wide to narrow) views, the remote camera block (140 and 142) would have an associated multiplexer to select one camera input at a time. An on-board camera 146 is also coupled to the MPU 102 which, in a representative embodiment, may comprise a 5.0 megapixel complementary metal oxide (CMOS) image sensor.
    [0025] The smart pan / tilt subsystem 106 comprises, in pertinent parts, a bidirectional bus 150 to which a pair of position sensors 152 and 154 are coupled in addition to a gyroscope 160 and an inclinometer 162. It should be noted that, as here used, the function of inclinometer 162 can also be performed, for example, by an accelerometer. The position sensors 152 and 154 are respectively associated with the panning motor 156 and the tilting motor 158 of the smart pan / tilt subsystem 106. The operation and functional elements of the smart pan / tilt subsystem 106 will be more fully described from now on.
    [0026] With reference now further to Figures 2A and 2B, a representative logical flow diagram for a possible implementation according to the system of the preceding figure is shown in the form of a process 200.
    [0027] Process 200 begins with a self-test step 202 for all system components 100 followed by the adjustment of the original position of the smart pan / tilt subsystem 106 and step 204.
    [0028] At this point the distance between system 100 (for example, as mounted on a police vehicle 130) and a target vehicle 128 is determined in step 206 by the high-performance laser speed measurement subsystem 108. In one embodiment Preferred, the laser speed measurement subsystem 108 may comprise a TruSense ™ S200 laser sensor available from Laser Technology, Inc., assignor of the present invention which provides up to 200 distance measurements per second. The distance information provided by the laser speed measurement subsystem 108 can be used to augment the visual sensor subsystem 104 to resolve any ambiguities that may arise due to an inability to distinguish, for example, a dark colored license plate from shading due to poor lighting conditions.
    [0029] In step 208, the movement of target vehicle 128 with respect to system 100 is determined in Cartesian coordinates (x, y) over an image plane. This can be done in the following way:
    [0030] An image (240x180 pixels) of the target vehicle 128 is captured by the CMOS image sensor or by the camera on board 146 or by the remote cameras 140 or 142;
    [0031] The characteristics of the image are extracted. This can be done through the use of optical flow in which the direction of movement of each pixel from one image to the next is determined. Among the processes that can be used in this regard include those found at http://en.wikipedia.org/wiki/Optical flow or the use of borders (such as a Sobel operation) or those found at http: // en .wikipedia.org / wiki / Edqe detection;
    [0032] The extracted characteristics are segmented to produce an object this can be done by grouping pixels which have a similar direction or a fuzzy logic and / or neutral network can be used to segment the pixels.
    [0033] The object's center of mass is tracked and estimated. This can be done using a Kalman filter as seen at http://en.wikipedia.org/wiki/Kalman filter; and
    [0034] The estimated position (x, y) can be used for target movement (x, y).
    [0035] In step 210, the shock and vibration experienced by the system 100 due to the possible movement of the police vehicle 130 is determined so that they can be filtered. In this respect, the outputs of the gyroscope 160 and inclinometer 162 are sampled in the order of each millisecond or less. In a representative embodiment of the present invention, 2047 samples / second are taken from the inclinometer 162 and 1000 samples / second from the gyroscope 160. As these devices tend to generate a quantity of noise, this must be filtered. However, as relatively strong filters would lead to a slower signal response time, the representative embodiment of system 100 of the present invention implements an adaptive two-stage low-pass filter in which:
    [0036] For all measured data x [i], i = 0 to n.

    [0037]
    where k1 and k2 are low pass filter coefficients.
    [0038] y [i] = y1 [i] if the difference between y1 [i] and y2 [i] is greater than a limit, otherwise y2 [i],
    [0039] y [i] can provide a very stable output from a strong low pass filter of y2 [i] as well as a much faster response time from the weaker low pass filter from y1 [i].
    [0040] In step 212, the information calculated in steps 206, 208 and 210 are used to calculate new motor positions for panning motor 156 and tilt motor 158 of panning / tilting subsystem 106 together with their positions brushless DC motors (BLDC) from an associated optical encoder or hall sensors in step 214. Subsequently in step 216 the pan motor 156 and the tilt motor 158 are appropriately controlled.
    [0041] In step 218, the speed of the target vehicle 128 is determined by the laser speed measurement subsystem 108 while in step 220 the speed of the system 100 as mounted on a police vehicle 130 is determined from its network interface. controller area (CAN) for the vehicle's OBD II port. The inputs for this determination can be obtained from the GPS subsystem 116 in step 222 to provide a correction for the police vehicle's tire pressure, wheel diameter and the like which could otherwise affect this calculation. It should be noted that GPS is usually very accurate if a vehicle is traveling at a constant speed and is otherwise less reliable. In the representative modality of system 100 described here, system 100 monitors the vehicle speed primarily through the OBD II port and when this indicates a stable speed, the tire condition is more correctly calibrated together with the GPS subsystem data 116 .
    [0042] In step 224, a stationary target based calibration for the tire pressure of police vehicle wheel diameters 130 can be performed by aiming the system 100 at a stationary target such as a road sign or a land feature. Since the speed of such an object is zero, system 100 can then calibrate the tire condition. Using previously computed information and data, system 100 then determines whether the speed of target vehicle 128 is greater than the speed limit posted in decision step 226. If the speed of target vehicle 128 is excessive, all data previously The measured values are saved together with evidence data such as still images and a moving video clip as recorded by the visual sensor subsystem 104 in step 228. In operation, system 100 determined the relative speed between police vehicle 130 and the target vehicle 128 as well as the absolute speed of system 100 as calibrated in conjunction with GPS subsystem 116 (step 222) and / or stationary target assessment (step 224). In a representative embodiment of the present invention, system 100 can store two still images of target vehicle 128, a wide view (for example, on the order of 10 to 30 degrees to include contextual background information) and a narrow view (for example, in the order of 5 to 20 to include more details of target vehicle 128). A specific implementation of the present invention uses 100 mm and 30 mm focal length lenses in this regard. The motion clip can be saved from either the wide view or narrow view images and then stored on storage device 120 which can be an SD card or similar or otherwise stored via I / O 118 to a network via Ethernet or an associated USB device. The captured still image can also be processed in step 228 by a plate number recognition system and its license number is also stored with the other data.
    [0043] In step 230, current information regarding target vehicle 128 being tracked and information derived from visual sensor subsystem 104 are displayed on touch screen 112 whereby the operator of system 100 in police vehicle 130 can direct certain functions of system 100. In decision step 232, if the operator determines to provide an entry for process 200, that entry can be provided in step 234. If process 200 must stop at decision step 236, then it arrives at end. Otherwise, process 200 returns to operations in steps 206, 208 and 210 as previously described. Alternatively, if system 100 is to remain in automatic mode, then a new position is calculated for tracking target vehicle 128 at step 238 whereby decision step 236 is achieved again.
    [0044] With reference now further to Figure 3A, a front perspective view of an embodiment of the intelligent laser tracking system 100 of the present invention is shown that illustrates the visual sensor subsystem 104, the laser speed measurement subsystem 108 and its smart pan / tilt subsystem 106.
    [0045] With reference now in addition to Figure 3B, a partially elevated front elevation view of the modality of the preceding figure is shown illustrating the tilt plate 300 and the panning plate 302 on which the visual sensor subsystem 104 and the subsystem laser speed measurement devices 108 are controllably mounted including details of the tilting mechanism of the smart pan / tilt subsystem 106.
    [0046] The tilt plate 300 is mounted hinged on the panning plate 302 to provide a lifting movement for the visual sensor subsystem 104 and the laser speed measuring subsystem 108. The panning plate 302 provides a rotational movement for the same subsystems of system 100. A worm 304 driven by the tilt motor 158 in turn drives a worm gear 306 to drive a tilt shaft / pinion rotatable by top and bottom tilt bearings 310, 312. The shaft / tilt pinion then drives a tilt gear 314 to provide an upward and downward lifting motion for the tilt plate 300.
    [0047] With reference now further to Figure 3C, a rear perspective view of the mode of the preceding figures is shown including details of the panning mechanism of the smart panning / tilting subsystem 106. An endless 320 driven by the panning motor 156 drives a corresponding worm gear 322 to provide rotational movement for a panning pin 324. Panning pin 324 drives a belt 326 and an idler pulley 328 to drive a panning gear 330 to provide a rotational motion for panning plate 302. A rotation of the order of 320 ° or more is obtainable.
    [0048] The design of the smart pan / tilt subsystem 106 of the present invention minimizes the inertia of the system 100 by placing the heavier mass of the pan and tilt motors 156, 158 on a fixed base plate and not on any of the moving parts . The design of this aspect of the present invention provides a specifically effective and low-cost solution.
    [0049] With reference now further to Figure 4, a partially cross-sectional view of a police vehicle light bar 400 is shown including the embodiment of the intelligent laser tracking system 100 of the present invention illustrated in Figures 3A to 3C mounted on the same to allow both front and rear views of vehicular traffic in a mobile or stationary police vehicle 130. It should be noted that mounting system 100 on the lightbar 400 of a police vehicle 130 is only one of the possible mounting configurations available and that system 100 could similarly be mounted on the windshield, panel or behind the rear window of a police vehicle 130.
    [0050] With reference now to Figures 5A and 5B, respectively, viewed in rear perspective and top perspective of another modality 500 of the intelligent laser tracking system of the present invention are shown for possible traffic monitoring applications mounted on a stationary tripod. In this specific modality 500, alternative assembly and drive mechanisms are illustrated to provide a pan and tilt movement for the visual sensor subsystem 104 and the laser speed measurement subsystem 108. In addition, the touch screen 112 is shown as sense physically mounted on system base plate 100.
    [0051] With reference now further to Figure 6, the possible traffic monitoring function 600 of a mobile modality of the intelligent laser tracking system 100 of the present invention is shown when mounted on a police vehicle 130, such as on the boom. light 400 of Figure 4. In this application, the speed of multiple target vehicles 602, 604 and 606 can be autonomously tracked by the intelligent laser tracking system without operator input allowing the driver to devote his attention to driving. Alternatively, system 100 can be manually canceled to select a certain vehicle as a target by hitting a specific target vehicle as seen on the 112 touch screen. For example, if the police vehicle operator was specifically interested in the speed of the Aston Martin Vanquish to his left, he can select that specific target vehicle 602 as the one to be tracked.
    [0052] With reference now in addition to Figure 7, the possible traffic monitoring function 700 of a stationary modality of the intelligent laser tracking system 100 of the present invention is shown how it can be mounted on a tripod to automatically track and provide the speed of multiple target vehicles 702, 704 and 706 through multiple traffic lanes using, for example, the embodiment of the present invention in Figures 5A and 5B. The intelligent laser tracking system 100 of the present invention for use in the traffic monitoring function 700 can operate autonomously to track the speed of one or more target vehicles 702, 704 or 706 or an individual of the target vehicles can be manually selected on the 112 touch screen (not shown).
    [0053] With reference now further to Figures 8A and 8B, wide views 802 and narrow views 804 respectively of the images of one or more target vehicles. Such images are obtainable through the use of closely integrated dual image sensors comprising a wide vision sensor 140 and a narrow vision sensor 142 (Figure 1) that form a portion of the visual tracking subsystem 104 in a representative mode of the imaging system. intelligent laser tracking 100 of the present invention. The wide view 802 provides a context surrounding the target vehicle at the time the image was captured while the narrow view 804 can be used to uniquely identify the vehicle by the license plate number for reading or human or machine.
    [0054] With reference now further to Figure 9A, a top perspective view of a 900 portion of an alternative embodiment of the system 100 of the present invention is shown illustrating the laser speed measurement subsystem 108 and wide vision and vision cameras narrowly separated. Referring also to Figures 9B and 9C, the respective front and rear views of the wide vision and narrow vision cameras separated from the preceding figure are shown illustrating the lenses and their associated sensors, respectively. The narrow vision camera incorporates a lens 902 associated with the narrow vision sensor 142 while the wide vision camera incorporates a lens 904 associated with the wide vision sensor 140. As previously described, in order to switch between narrow to wide views ( or wide to narrow), the remote camera block (140 and 142) would have an associated multiplexer to select one camera input at a time.
    [0055] Although the principles of the present invention have been described above in conjunction with a specific circuit and structure, it should be clearly understood that the above description is made only as an example and not as a limitation on the scope of the invention. Specifically, it is recognized that the teachings in the description above will suggest further modifications for those skilled in the relevant technique. Such modifications may involve other characteristics which are already known to you and which can be used instead of or in addition to the characteristics already described here. Although the claims have been formulated in this application for specific combinations of characteristics, it should be understood that the scope of the description here also includes any new characteristic or any new combination of characteristics described herein either explicitly or implicitly or any generalization or modification which would be apparent for persons skilled in the relevant technique, whether or not this refers to the same invention as presently claimed in any claim or whether or not it mitigates any or all technical problems as confronted by the present invention. Applicants hereby reserve the right to make new claims for such features and / or combinations of such features during the process of the present application or any additional application derived therefrom.
    [0056] As used herein, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such as a process, method, article, or apparatus that comprises a recitation of certain elements not necessarily include only these elements but may include other elements not expressly recited or inherent in such a process, method, article, or apparatus. None of the descriptions in this application should be read as implying that no element, step, or function is an essential element which should be included in the scope of the claim and THE SCOPE OF THE PATENTED SUBJECT IS DEFINED ONLY BY THE CLAIMS AS ALLOWED. Furthermore, none of the appended claims is intended to invoke paragraph six of 35 U.S.C. Sect. 112 unless the exact phrase "means for" is used and is followed by a participle.
    权利要求:
    Claims (10)
    [0001]
    1. Tracking system to monitor the speed of one or more target vehicles, characterized by the fact that it comprises: a processor; a visual sensor subsystem coupled to said processor; a laser speed measurement subsystem coupled to said processor; and a panning / tilting system responsive to said visual sensor subsystem coupled to said processor to autonomously and mobilely support said speed sensor and laser sensor measurement subsystems, said system determining the speed of said one or more vehicles target based on the input of said laser speed measurement subsystem, where said visual sensor subsystem is operational to identify one or more moving targets and cause said pan / tilt subsystem to point to said sensor subsystem visual and said laser speed measurement subsystem for each of said one or more moving targets; further comprising: an operator input device coupled to said processor to manually select one of said one or more moving targets.
    [0002]
    2. System to monitor the speed of one or more targets in the form of vehicles, characterized by the fact that it comprises: a processor; a laser speed measurement subsystem coupled to said processor; a visual sensor subsystem coupled to said processor; a panning / tilting system coupled to said processor and operative to autonomously track said one or more target vehicles based on the input of said visual sensor subsystem, said system determining a speed of said one or more target vehicles based on input said laser speed measurement subsystem; and a display device coupled to said processor for displaying images of said one or more target vehicles from said visual sensor subsystem; wherein said display device is further operational to display a speed of said one or more target vehicles; wherein said display device comprises a touch screen that allows an operator of said system to select a particular vehicle from said one or more target vehicles for tracking by said system.
    [0003]
    System according to claim 1 or 2, characterized by the fact that it is mounted on a mobile vehicle that has a speed of said mobile vehicle inserted in said system through an on-board diagnostic port.
    [0004]
    4. System according to claim 3, characterized by the fact that it also comprises: a global positioning subsystem coupled to said processor, in which said speed of said mobile vehicle is periodically checked or corrected based on speed data of said vehicle derived from said global positioning subsystem.
    [0005]
    5. System according to any one of claims 1 to 4, characterized by the fact that said processor is operational to correct geometric errors or the cosine effect when tracking one or more moving targets.
    [0006]
    6. Tracking system according to any of claims 1 to 5, characterized by the fact that said panning / tilting subsystem still comprises: a base plate; a panning motor mounted on said base plate and operably coupled to a panning plate; a tilt motor mounted on said base plate and operably coupled to a tilt plate; a first and a second position sensors associated with said pan and tilt motors respectively to provide the position information of said pan and tilt motors for said processor.
    [0007]
    System according to any one of claims 1 to 6, characterized in that said visual sensor subsystem and said laser speed measurement subsystem are mounted on said inclination plate.
    [0008]
    8. System according to any one of claims 1 to 7, characterized by the fact that said panning / tilting subsystem still comprises a stabilization system especially one selected from a gyroscope, an inclinometer and an accelerometer.
    [0009]
    System according to any one of claims 1 to 8, characterized by the fact that said visual sensor subsystem further comprises a narrow vision sensor and a wide vision sensor.
    [0010]
    10. System according to claim 9, characterized in that said narrow and wide vision sensors operate simultaneously to provide the respective narrow and wide views of a target.
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    法律状态:
    2018-12-11| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-11-05| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-03-31| B09A| Decision: intention to grant|
    2020-11-03| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 07/09/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
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    US13/228,250|2011-09-08|
    US13/228,250|US9135816B2|2011-09-08|2011-09-08|Intelligent laser tracking system and method for mobile and fixed position traffic monitoring and enforcement applications|
    PCT/US2012/054234|WO2013036815A2|2011-09-08|2012-09-07|Intelligent laser tracking system and method for mobile and fixed position traffic monitoring and enforcement applications|
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