• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an obstacle detection device (10) for equipping a mobile vehicle (11) parallel to a reference plane (12), characterized in that it comprises: • a first said horizontal transmitter (14) a first horizontal beam (15) electromagnetic extending in a first virtual plane (22) substantially parallel to the reference plane (12), • a first image sensor (5) adapted to cover a field (36) intended intersecting with the first virtual plane (22) to form a detection surface (71), • image analysis means capable of determining the presence of an obstacle by detecting a presence of an image on the detection surface (71). The invention also relates to a detection method implementing such a device.
    公开号:FR3022037A1
    申请号:FR1455099
    申请日:2014-06-05
    公开日:2015-12-11
    发明作者:Bruno Maisonnier；Jorg Ziegler；Vincent Clerc；Nicolas Garcia
    申请人:Aldebaran Robotics SA；
    IPC主号:
    专利说明:

    [0001] The invention relates to an obstacle detection device disposed on a mobile vehicle and applies in particular to the field of navigation. DETECTION DEVICE HORIZONTAL OF OBSTACLES AND DETECTION METHOD USING THE SAME The invention also relates to an obstacle detection method using such a device.
    [0002] When moving a mobile vehicle such as a robot, it is desirable to avoid any collision between the mobile vehicle and an obstacle in the environment in which the moving vehicle moves, for example to avoid damaging the vehicle mobile and / or the obstacle.
    [0003] For any mobile vehicle, and therefore also for a robot able to move, it is very important to take into account the safety of the mobile vehicle and the elements of its environment. The safety of the vehicle and elements of its environment includes the detection of obstacles in the environment and the avoidance of collision with these obstacles. There are different techniques to avoid collisions. Most of these techniques involve significant implementation costs and require significant computing power to, for example, determine the position of the robot in a certain repository. Other existing techniques are very expensive, and are therefore not suitable for implementation in a robot. The invention aims to overcome all or part of the problems mentioned above by providing an obstacle detection device located in the environment of a mobile vehicle, as well as a method using such a device. For this purpose, the subject of the invention is an obstacle detection device intended to equip a mobile vehicle parallel to a reference plane, characterized in that it comprises: a first said horizontal transmitter of a first beam electromagnetic horizontal device extending in a first virtual plane substantially parallel to the reference plane; a first image sensor adapted to cover a field intended to intersect with the first virtual plane to form a detection surface; image analysis capable of determining the presence of an obstacle by detecting a presence of an image on the detection surface. According to one embodiment, the vehicle has a preferred direction of movement in a first direction along an axis X and the device further comprises a first transmitter said oblique of a first oblique beam extending in a first oblique virtual plane in the first direction along the axis X and secant to the reference plane, and a second transmitter said oblique of a second oblique beam extending in a second oblique virtual plane in the first direction along the axis X and secant to the reference plane . The device also includes a first image sensor capable of producing an image around the intersection of the first and second oblique virtual planes with the reference plane. According to one embodiment of the invention, the device comprises a first said horizontal transmitter of a first horizontal beam extending in a first virtual plane substantially parallel to the reference plane and the first image sensor is able to produce a image of the intersection of the first virtual plane and the obstacle.
    [0004] According to another embodiment, the first virtual plane forms an angular sector around the X axis, and the device further comprises a second said horizontal transmitter of a second horizontal beam extending in a second virtual plane in a first direction, forming an angular sector around a Y axis perpendicular to the X axis and substantially parallel to the reference plane. The device includes a second image sensor adapted to produce an image of the intersection of the second virtual plane and the obstacle. The device comprises a third said horizontal transmitter of a third horizontal beam extending in a third virtual plane in a second direction, opposite the first direction, forming an angular sector around the axis Y and substantially parallel to the reference plane, a third image sensor capable of producing an image of the intersection of the third virtual plane and the obstacle. Advantageously, the angular sector formed by the first horizontal beam is spaced from the angular sectors formed by the second and third horizontal beams by a predefined angle. Advantageously, the angular sector is 120 °. According to another embodiment, the device further comprises means for positioning a so-called horizontal virtual plane intended to position said so-called horizontal virtual plane so that it does not intersect the reference plane. The positioning means may consist of a servo loop capable of determining an angular position of the so-called horizontal virtual plane relative to the reference plane and of transmitting a new angular position to the so-called horizontal emitter forming the so-called horizontal virtual plane. . The positioning means may also be constituted by a positive angle between the so-called horizontal virtual plane and the reference plane. According to another embodiment, the device further comprises a shovel beam transmitter extending in a virtual plane configured to intersect with the reference plane along a straight line perpendicular to the X axis, and the first image sensor is able to produce an image of the line. Advantageously, the beam or beams are laser beams. Advantageously, the device comprises control means configured to selectively deactivate transmitters and sensors according to the direction of movement of the vehicle. Advantageously, the device further comprises a processing circuit configured to clock beam transmissions by the transmitters and to synchronize the beam transmissions with the images taken by the sensors. The invention also relates to a vehicle implementing such a device. The invention also relates to an obstacle detection method using such a device, characterized in that it comprises the following steps: - emission of a beam capable of forming a virtual plane that can intersect with the obstacle, - shooting and producing an image of the intersection of the virtual plane and the obstacle, - image analysis and determination of the obstacle.
    [0005] According to one embodiment, the method according to the invention may also comprise the following steps: storage of a first image of the intersection of the virtual plane formed by the shovel beam with the reference plane, storage of a second image of the intersection of the virtual plane formed by the shovel beam with the obstacle, - comparison of the first and the second images so as to define the location of the obstacle.
    [0006] The mobile vehicle is for example a robot. This robot can have wheels to allow its movement on a reference plane. The invention also applies to a humanoid robot moving by means of legs. Alternatively, the mobile vehicle can be any type of vehicle, moving parallel to a reference plane, either in contact with the reference plane by means of wheels, or on air cushions. The invention also relates to a humanoid robot comprising a detection device according to the invention.
    [0007] By humanoid robot is meant a robot with similarities to the human body. It may be the upper body, or only an articulated arm ending in a clamp comparable to a human hand. In the present invention, the upper body of the robot is similar to that of a human trunk. A detection device according to the invention makes it possible to determine obstacles in the environment of the robot. The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example, a description illustrated by the attached drawing in which: FIG. 1 represents virtual planes 2a is a top view of a device according to the invention showing virtual planes of the beams parallel to the reference plane; FIG. 2b is a sectional view of a device according to the invention; invention showing a virtual plane of a beam substantially parallel to the reference plane, - Figure 2c shows a servo loop for adjusting an angular position of a virtual plane with respect to the reference plane, - the figure 3 represents a virtual plane formed by a beam, and virtual planes formed by two beams, FIGS. 4a, 4b, 4c represent an intersection of a virtual plane with an obstacle according to the inv. FIG. 5 shows virtual planes formed by beams and a field covered by a camera; FIG. 6 shows a beam transmitter capable of forming a virtual plane; FIG. a humanoid-type robot implementing an obstacle detection device according to the invention; FIG. 8 represents an example of a pedestal comprising wheels for a humanoid-type robot implementing a device 35 for detecting obstacles; According to the invention, FIG. 9 schematically represents a processor providing the functions of treatment and synchronization of beam transmissions and shots. FIG. 10 schematically illustrates the steps of an obstacle detection method. according to the invention, - Figures 11a and 11b show two obstacle detection configurations, - Figure 12 schematically illustrates a profile view of a device according to the invention showing horizontal, oblique and shovel virtual planes. For the sake of clarity, the same elements will bear the same references in the different figures. In the description, the invention is described with the example of an implementation on a robot, and more particularly on a robot moving by means of wheels. However, the invention is applicable to any mobile vehicle. A moving vehicle 11 has a preferred direction of movement in a first direction along an X axis. FIG. 1 represents a view of the device 10 according to the invention. The obstacle detection device 10 intended to equip the mobile vehicle 11 parallel to a reference plane 12 comprises at least two emitters 34, 35 of electromagnetic beam capable of forming two virtual planes in two different directions that can intersect with one another. possible obstacle, at least one image sensor 5 (not shown in FIG. 1) able to produce an image of the intersection of the virtual planes and the obstacle, an image analysis means 66 (not represented on FIG. FIG. 1) capable of determining the obstacle, configured to compare the image with a reference image. In other words, the formed virtual planes intersect the reference plane 12 and thus form a straight line. In the presence of an obstacle, the line is then deformed, and it is the deformation of the line that reveals the presence of an obstacle. Thus, we project a virtual plane, we look at the image obtained and the detection of an obstacle is obtained by the deformation 35 of the line of intersection between the virtual plane and the obstacle.
    [0008] FIG. 1 shows virtual planes 28, 29 formed by so-called oblique transmitters 34, 35. The device 10 comprises a first oblique transmitter 34 of a first oblique beam 30 extending in a first oblique virtual plane 28 in the first direction along the axis X and secant to the reference plane 12. The device 10 comprises a second said oblique transmitter 35 of a second oblique beam 31 extending in a second oblique virtual plane 29 in the first direction along the axis X and secant to the reference plane 12. The first image sensor 5 is able to produce an image around the intersection of the oblique virtual planes 28, 29 with the reference plane 12. FIG. a device according to the invention showing virtual planes of the beams parallel to the reference plane 12. The device 10 comprises a first said horizontal emitter 14 of a first horizontal beam 15 extending in a first virtual plane 22 substantially arallel to the reference plane 12 and the first image sensor 5 capable of producing an image of the intersection of the first virtual plane 22 and the obstacle. The moving vehicle 11 having a preferred direction of movement in the first direction along the X axis, the first virtual plane 22 forms an angular sector around the X axis, and the device 10 further comprises a second said horizontal transmitter 16 a second horizontal beam 17 25 extending in a second virtual plane 23 in a first direction, forming an angular sector around a Y axis perpendicular to the X axis and substantially parallel to the reference plane 12. The device 10 comprises a second image sensor 6 capable of producing an image of the intersection of the second virtual plane 23 and the obstacle. The device comprises a third said horizontal emitter 19 of a third horizontal beam 20 extending in a third virtual plane 24 in a second direction, opposite to the first direction, forming an angular sector around the axis Y and substantially parallel to the reference plane 12. The device 10 comprises a third image sensor 7 capable of producing an image of the intersection of the third virtual plane 23 and the obstacle.
    [0009] Advantageously, the angular sector 22 formed by the first horizontal beam 15 is spaced from the angular sectors 23, 24 formed by the second and third horizontal beams 17, 20 of a predefined angle. The angular sector can be 60 ° and the defined angle 30 °. One can also have an angular sector of 90 °. Advantageously, the angular sector is 120 ° and the predefined angle is 0 °. This configuration allows a total coverage of the environment around the mobile vehicle 11. The first, second and third so-called horizontal transmitters 14, 16, 19 are positioned on the mobile vehicle 11 at a certain height 25 of the reference plane 12 ( visible in Figure 2b). The height 25 may be for example 15 cm, or 10 cm. In order to detect small obstacles, the height 25 can be 5 or 3 cm. The virtual planes 22, 23, 24 formed respectively by the emitters 14, 16, 19 can intersect with an obstacle situated at a height greater than the height 25, or with an obstacle 20 a part of which lies at the level of the virtual planes. 22, 23 or 24. The emitters 14, 16, 19 allow an obstacle detection that can be described as panoramic detection. The image sensor 5 may also be a so-called "wide angle" image sensor, which alone allows one to take a picture of the three virtual planes 22, 23, 24. FIG. 2b represents a sectional view of a device according to the invention showing the virtual plane 22 of the beam 15 substantially parallel to the reference plane 12. Here we describe the virtual plane 22, but all this is also valid for the virtual planes 23 and 24. Advantageously, the detection device according to the invention comprises means 67 for the virtual plane 22 to always be above the reference plane 12 in a field 36 covered by the image sensor 5.
    [0010] The means 67 for the virtual plane 22 to be always above the reference plane 12 in a field 36 may be constituted by a servo loop which makes it possible to orient the beam emitter 14 so as to orient the virtual plane 22 depending on its orientation when the moving vehicle 11 is moving. Thus, if the moving vehicle 11 moves on a reference plane comprising irregularities, as represented in FIG. 2c, the virtual plane 22 can be brought to intersect the reference plane 12. A gyroscope 68 can pick up an angular position 73 of the virtual plane 22 with respect to the reference plane 12. An analysis means 69 in the servocontrol loop acquires this information, transmits a new angular position 74 to the transmitter 14 which is then oriented so as to position the plane 22 when the moving vehicle 11 is again moving on a completely flat surface, the analysis means 69 transmits to the transmitter 14 a new angular position so that the virtual plane 22 is repositioned substantially parallel to the reference plane 12. According to another configuration, the positioning means consist of an angle 72 between the virtual plane said horizontal 22 and the reference plane 12. The virtual plane 22 may therefore be slightly upwardly. In other words, it forms the angle 72, positive angle, with the reference plane 12. Thus, the virtual plane 22 never intersects the reference plane 12, even when the moving vehicle 11 is moving. The image sensor 5 is able to produce an image of the intersection of the virtual plane 22 and a possible obstacle. It is thus possible to define a detection surface 71 which corresponds to the intersection of the virtual plane 22 and the cone formed by the field 36 covered by the image sensor 5. The virtual plane 22 alone can intersect with a possible obstacle having approximately a height greater than or equal to the height 25 and can be located at infinity. Because of the positive angle 72 and the field 36 of the image sensor 5, the detection surface 71 is located near the moving vehicle 11. Detecting a possible obstacle is therefore to detect an appearance of an image at the level of the detection surface 71. The oblique beams 30, 31 may intersect with smaller obstacles, holes, or larger obstacles, with which the horizontal beams 15, 17, 20 might not have been able to intersect. FIG. 3 represents a virtual plane 26 formed by a shovel beam 27 emitted by a shovel transmitter 32. The device 10 comprises the so-called shovel transmitter 32 of a shovel beam 27 extending in a virtual plane 26 configured for FIG. intersect with the reference plane 12 along a line perpendicular to the X axis. The first image sensor 5 is able to produce an image of the straight line resulting from the intersection of the virtual plane 26 and the reference plane 12 The virtual plane 26 formed by the transmitter 32 can intersect with an obstacle located at a height corresponding to the distance 33 between the virtual plane 26 and the reference plane 12. It can be an obstacle placed on the reference plane 12 of large size or small size. It finds a particularly interesting application for obstacles whose height is less than the height 25 between the reference plane 12 and a horizontal virtual plane. Examples of obstacles include a hole or door stopper. Figures 4a, 4b and 4c show an intersection of the virtual plane 26 with an obstacle according to the invention. The vehicle 11 is mobile parallel to the reference plane 12. The shovel transmitter 32 of the shovel 27 extends in the virtual plane 26. The virtual plane 26 is configured to intersect with the reference plane 12 along a line 70 perpendicular to the X axis, as shown in Figure 4a. In other words, the virtual plane 26 formed by the shovel 27 makes it possible to scan the reference plane 12. The image sensor 5 is able to produce an image of the line 70. image is able to determine the presence of the obstacle, the analysis means being configured to compare the image of the sensor 5 with a reference image.
    [0011] It is therefore a matter of projecting a line on the reference plane 12 in the field 36 of the image sensor 5. The use of the virtual plane 26 in a snapshot makes it possible to detect, in the presence of an obstacle , a deformation of the line 70. Moreover, it is possible to memorize everything in the volume between the virtual plane 26 and the reference plane 12. Thus, with a use coupled to the time (that is, ie at the successive positions of the mobile vehicle 11) and the storage, it is known when there is an obstacle in the environment of the moving vehicle 11. In other words, it is possible to memorize a first image and a second image at different times of the intersection of the virtual plane 26 formed by the beam shovel 27 with the reference plane 12. A comparison is made between the first and the second images so as to define the location of the obstacle. The location of the obstacle can be done in a fixed reference or in a reference linked to the moving vehicle 11. This detection and location of the obstacle can be done when the moving vehicle moves in the first direction along the X axis, but also in the opposite direction of the first direction (that is to say in forward or reverse). It is then possible to slow down the moving vehicle 11, to stop it before a collision with the obstacle or to deviate from its trajectory. Finally, in the extreme case of a disappearance of the line 70, this means that the mobile vehicle 11 is close to a cliff or stair step since the image sensor 5 is no longer suitable to produce an image of the line 70 then below with respect to the reference plane 12. Conversely, as soon as the image sensor 5 is able to produce an image, that is to say a break of the virtual plane 26, this means either that the mobile vehicle 11 can move forward and back on the reference plane 12, without risk of falling into the void (cliff, stairs, ...), or that the mobile vehicle 11 is in the presence of an obstacle to proximity. It should be noted that the shovel beam can be used alone, independently of other oblique and horizontal beams. Similarly, it is quite possible to use only oblique beams. Finally, it is possible to use several beams together, for example a shovel beam with a horizontal beam, a shovel beam with an oblique beam, an oblique beam with a horizontal beam or any other combination of 2 or more beams.
    [0012] Thus, the six beams 15, 17, 20, 27, 30, 31 allow the device 10 to form an intersection with virtual planes and any obstacle located in a close environment.
    [0013] FIG. 5 shows in a side view the virtual planes 28, 29 formed by the oblique beams 30, 31 as well as the field 36 covered by the image sensor 5. The virtual planes 28, 29 respectively formed by the beams 30, 31 can intersect with an obstacle. The image sensor 5 can then produce an image of the intersection of the virtual plane or planes 28, 29 with the obstacle. An image analysis means (not shown in the figure) is then able to determine the obstacle, configured to compare the image obtained with a reference image. Specifically, the virtual planes 26, 28, 29 intersect the reference plane 12 (which in most cases corresponds to the ground on which the moving vehicle 11 moves) and thus form a straight line. In the presence of an obstacle, the line thus formed is disturbed, and it is the disturbance of the line which reveals the presence of an obstacle.
    [0014] It is important to note that the image sensor 5, for example a camera, is advantageously synchronized with the beam emitters, allowing the beam emitters to be active only during the exposure time of the image sensor 5 It is also necessary to take into account the difference between the instant of the decision making of the exposure (for example on the part of a processor PROC disposed in the mobile vehicle 11) and the moment when the image sensor actually takes the picture. It is also particularly advantageous to clock all the devices emitting the beams together by means of a common pulse. This synchronization makes it possible to avoid interference between different beams, and which would bring bad information to the camera and image analysis apparatus. To do this, as shown in FIG. 9, the device 10 comprises control means 8 configured to selectively deactivate transmitters and sensors according to the direction of movement of the vehicle 11. This makes it possible to reduce the energy consumption of the device 10 The device 10 further comprises a processing circuit 9 configured to clock beam transmissions by the transmitters and synchronize the beam emissions with the shots by the sensors. Thus, the beams are emitted one after the other or simultaneously according to the configuration in which the mobile vehicle 11 is located. And at each beam emission, the associated image sensor takes a picture. For example, to obtain a panoramic view of the environment of the moving vehicle 11, the three horizontal beams 15, 17, 20 are emitted simultaneously and the three image sensors 5, 6, 7 each produce an image. If it is desired to see the preferred direction of movement along the X axis, the first horizontal beam may be emitted before the so-called shovel beam, and the corresponding image sensor 5 is activated in a clocked manner by taking a first shot. at the same time as the emission of the horizontal beam, then a second shot at the same time as the emission of the so-called shovel beam. FIG. 6 represents the emitter 34 emitting the beam 30 capable of forming the virtual plane 28. Advantageously, the beam emitters are fixed on the mobile vehicle 11 in order to avoid having moving parts in and / or on the vehicle Mobile 11. The attachment beam transmitters thus offers good robustness during the transport of the mobile vehicle 11 and against the vibrations of a moving part.
    [0015] Advantageously, the beam or beams are laser beams. The device 10 according to the invention may also have an exposure control means which may consist of a contrast enhancement algorithm between the beam light emitted and the environment. Such a control means may in particular allow the device 10 to consider only a so-called safety zone in an environment close to the mobile vehicle 11. The accuracy in the determination of the obstacle is thus improved. be made with a rigorously exact geometry and dimensions, and so that the part can fulfill its functions in a mechanism, tolerances (dimensional, geometric) are defined. These tolerances can have an impact on the accuracy of measurements. The device 10 may have a mechanism for calibrating the angle of inclination of the image sensor 5 and the angle of inclination of the emitters 14, 16, 19 of the beams 15, 17, 20. Such a mechanism calibration is generally implemented in a known environment and ensures a good accuracy of measurements and thus of determination of the obstacle. FIG. 7 represents a robot 37 with a humanoid character implementing the device 10 for detecting obstacles according to the invention.
    [0016] FIG. 8 represents an example of a base 50 comprising wheels 51 for a humanoid robot implementing the obstacle detection device according to the invention. FIG. 9 schematically represents a PROC processor 20 providing the functions of treatment and synchronization of beam transmissions and shots. Figure 10 schematically illustrates the steps of an obstacle detection method according to the invention. The detection method uses the detection device as described above. It comprises the following steps: - Emitting a beam capable of forming a virtual plane that can intersect with the obstacle (step 100), - Shooting and producing an image of the intersection of the virtual plane and obstacle (step 110), - image analysis and determination of the obstacle (step 120). The method further comprises the following steps: storing a first image of the intersection of the virtual plane (26) formed by the shovel beam (27) with the reference plane (12) (step 130); a second image of the intersection of the virtual plane 5 (26) formed by the beam shovel (27) with the obstacle (step 130), - comparison of the first and the second images (step 140) so as to define the location of the obstacle (step 150). Figures 11a and 11b show two obstacle detection patterns. In Fig. 11a, only one virtual plane 60 intersects with an obstacle. In FIG. 11b, two virtual planes 65, 66 intersect each other and with an obstacle with a detection device according to the invention. In the two configurations are present two similar obstacles 61, 62 (two cubes in the example shown): one 61 is small and close to the moving vehicle 11, the second 62 is large and farther from the moving vehicle 11. In 11a, the virtual plane 60 intersects with the small cube 61. Similarly, the virtual plane 60 intersects with the large cube 62. An intersection 63 between the virtual plane 60 and the small cube 61 and an intersection 64 between the virtual plane 60 and the large cube 62 each form a line. Nevertheless, because of the difference in size of the two cubes 61, 62 and the distance of the large cube 62 compared to the small cube 61 relative to the moving vehicle 11, the two intersecting lines 63, 64 are perceived as identical by the image sensor. In FIG. 11b, two virtual planes 65, 66 intersect each other and, on the one hand, the small cube 61 close to the mobile vehicle 11 to form an intersection line 67. The two virtual planes 65, 66 are intersect also between them but not on the large cube 62, too far away for the intersection 68 between the two virtual planes 65, 66 coincide with an intersection with the large cube 62. Thus, the obstacle detection with two virtual planes in different directions and intersecting each other makes it possible to more precisely determine an obstacle. After determining the obstacle (step 120), it is possible for the mobile vehicle 11 to take a new action. For example, a navigation action with a change of trajectory or a stop. The device 10 according to the invention can also have a library of reference images. These reference images correspond to predefined images making it possible, in addition to obstacle detection, to recognize the obstacles by comparing the image produced by the image sensor 5 with the reference images. The image analysis thus carried out may in particular enable the mobile vehicle 11 to recognize its charging base and to go there to recharge its battery. FIG. 12 schematically illustrates a profile view of the device 10 according to the invention showing the horizontal virtual planes (only the plane 22 is shown), oblique 28, 29 and shovel 26. Advantageously, after the shooting and determination of At the obstacle (step 110), the location of the obstacle is communicated in Cartesian coordinates in the coordinate system containing the X and Y axes. This allows a compression of the transmitted information. Finally, it is possible to reduce the resolution of the images taken by the image sensor in order to reduce the costs of the device 10. It is also possible to manage all the beam transmitters and the image sensors with a single processor. always with the aim of reducing the costs of the device 10.
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. An obstacle detection device (10) intended to equip a mobile vehicle (11) having a preferred direction of movement in a first direction along an axis X, parallel to a reference plane (12), characterized in that it comprises a first said horizontal emitter (14) of a first horizontal electromagnetic beam (15) extending in a first virtual plane (22) substantially parallel to the reference plane (12); a first image sensor (5); ) adapted to cover a field (36) intended to intersect with the first virtual plane (22) to form a detection surface (71), - image analysis means capable of determining the presence of an obstacle by detecting a presence of an image on the detection surface (71).
    [0002]
    2. Device (10) according to claim 1, characterized in that the vehicle (11) further comprises: - a first oblique transmitter (34) of a first oblique beam (30) extending in a first virtual plane oblique (28) in the first direction along the X axis and secant to the reference plane (12), - a second oblique transmitter (35) of a second oblique beam (31) extending in a second oblique virtual plane (29) in the first direction along the X axis and secant to the reference plane (12), and in that the first image sensor (5) is able to produce an image around the intersection of the first and second oblique virtual planes (28, 29) with the reference plane (12).
    [0003]
    3. Device (10) according to one of the preceding claims, characterized in that the first virtual plane (22) forms an angular sector around the axis X, and in that the device (10) further comprises: lb a second said horizontal transmitter (16) of a second horizontal beam (17) extending in a second virtual plane (23) in a first direction, forming an angular sector around a Y axis perpendicular to the X axis and substantially parallel to the reference plane (12), - a second image sensor (6) capable of producing an image of the intersection of the second virtual plane (23) and the obstacle, - a third said horizontal transmitter ( 19) of a third horizontal beam (20) extending in a third virtual plane (24) in a second direction opposite the first direction, forming an angular sector about the Y axis and substantially parallel to the reference plane (12), - a third image sensor (7) capable of producing an image of the intersecti one of the third virtual plane (24) and the obstacle. 10
    [0004]
    4. Device (10) according to claim 3, characterized in that the angular sector (22) formed by the first horizontal beam (15) is spaced from the angular sectors (23, 24) formed by the second and third horizontal beams (17). , 20) of a predefined angle. 15
    [0005]
    5. Device (10) according to claim 4, characterized in that the angular sector is 120 °.
    [0006]
    6. Device (10) according to one of claims 1 to 5, characterized in that it further comprises means for positioning a horizontal said virtual plane (22) for positioning said virtual plane said horizontal (22). ) so that it does not intersect the reference plane (12).
    [0007]
    7. Device (10) according to claim 6, characterized in that the positioning means are constituted by a servo-control loop capable of determining an angular position (73) of the so-called horizontal virtual plane (22) relative to the plane of reference (12) and to transmit a new angular position (74) to the so-called horizontal transmitter (14) forming the so-called horizontal virtual plane (22). 30
    [0008]
    8. Device (10) for positioning according to claim 6, characterized in that the positioning means are constituted by an orientation of the beam emitter (14) (15) so as to orient the so-called horizontal virtual plane (22) so as to form a positive angle (72) between the so-called horizontal virtual plane (22) and the reference plane (12). 35
    [0009]
    9. Device (10) according to one of claims 1 to 8, the vehicle (11) having a preferred direction of movement in a first direction along an axis X, characterized in that it further comprises: - a said transmitter shovel (32) of a shovel beam (27) extending in a virtual plane (26) configured to intersect with the reference plane (12) along a straight line perpendicular to the X axis; image analysis, in that the first image sensor (5) is able to produce an image of the line, and in that the image analysis means is able to determine the presence of an obstacle. by detecting a deformation of the line
    [0010]
    10. Device (10) according to one of claims 1 to 9, characterized in that it comprises control means (8) configured to selectively disable transmitters (14, 16, 19, 32, 34, 35) and sensors (5) according to the direction of movement of the vehicle (11).
    [0011]
    11. Device (10) according to one of claims 1 to 10, characterized in that it further comprises a processing circuit (9) configured to clock the beam emissions (15, 17, 20, 27, 30, 31) by the transmitters (14, 16, 19, 32, 34, 35) and synchronize the beam transmissions (15, 17, 20, 27, 30, 31) with the shots by the sensors (5, 6). , 7).
    [0012]
    12. Device (10) according to one of the preceding claims, characterized in that the beam or beams (15, 17, 20, 27, 30, 31) are laser beams.
    [0013]
    13. Vehicle (11) characterized in that it comprises a device (10) for detecting an obstacle according to one of the preceding claims. 30
    [0014]
    14. A method of detecting obstacles using a device (10) according to one of claims 1 to 12, characterized in that it comprises the following steps: - emission of a beam (15, 17, 20, 27, 30, 31) adapted to form a virtual plane (22, 23, 24, 26, 28, 29) intersecting with the obstacle, - Shooting and producing an image of the intersection of the virtual plane (22, 23, 24, 26, 28, 29) and the obstacle, - image analysis and determination of the obstacle.
    [0015]
    15. Detection method according to the preceding claim, characterized in that it further comprises the following steps: - storage of a first image of the intersection of the virtual plane (26) formed by the shovel beam (27) with the reference plane (12), - storage of a second image of the intersection of the virtual plane (26) formed by the shovel beam (27) with the obstacle, - comparison of the first and the second images so as to define 10 the location of the obstacle.
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    同族专利:
    公开号 | 公开日
    JP2017518579A|2017-07-06|
    WO2015185532A1|2015-12-10|
    SG11201609557VA|2016-12-29|
    KR20170027767A|2017-03-10|
    BR112016028247A2|2017-08-22|
    EP3152592A1|2017-04-12|
    AU2015270607B2|2018-01-04|
    US20170082751A1|2017-03-23|
    RU2650098C1|2018-04-06|
    AU2015270607A1|2016-12-01|
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    法律状态:
    2015-06-08| PLFP| Fee payment|Year of fee payment: 2 |
    2015-12-11| PLSC| Publication of the preliminary search report|Effective date: 20151211 |
    2016-05-26| PLFP| Fee payment|Year of fee payment: 3 |
    2017-05-30| PLFP| Fee payment|Year of fee payment: 4 |
    2018-05-29| PLFP| Fee payment|Year of fee payment: 5 |
    2019-06-03| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-12| ST| Notification of lapse|Effective date: 20210205 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1455099A|FR3022037B1|2014-06-05|2014-06-05|DEVICE FOR HORIZONTALLY DETECTING OBSTACLES AND DETECTION METHOD USING SAME|FR1455099A| FR3022037B1|2014-06-05|2014-06-05|DEVICE FOR HORIZONTALLY DETECTING OBSTACLES AND DETECTION METHOD USING SAME|
    SG11201609557VA| SG11201609557VA|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    MX2016015829A| MX359304B|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device.|
    AU2015270607A| AU2015270607B2|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    CN201580030059.8A| CN106687821A|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    KR1020177000001A| KR20170027767A|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    JP2016571011A| JP2017518579A|2014-06-05|2015-06-02|Obstacle detection device by horizontal plane and detection method for mounting such device|
    CA2953268A| CA2953268A1|2014-06-05|2015-06-02|Device for detection of obstacles with a horizontal plane and detection method implementing such a device|
    BR112016028247A| BR112016028247A2|2014-06-05|2015-06-02|obstacle detection device with a horizontal plane and detection method implementing such a device|
    EP15726152.0A| EP3152592A1|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    RU2016151213A| RU2650098C1|2014-06-05|2015-06-02|Device and method for detecting obstacles on a horizontal plane|
    PCT/EP2015/062214| WO2015185532A1|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
    US15/311,089| US20170082751A1|2014-06-05|2015-06-02|Device for detection of obstacles in a horizontal plane and detection method implementing such a device|
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