FR3022037B1 - Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif - Google Patents

Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Info

Publication number
FR3022037B1
FR3022037B1 FR1455099A FR1455099A FR3022037B1 FR 3022037 B1 FR3022037 B1 FR 3022037B1 FR 1455099 A FR1455099 A FR 1455099A FR 1455099 A FR1455099 A FR 1455099A FR 3022037 B1 FR3022037 B1 FR 3022037B1
Authority
FR
France
Prior art keywords
same
detection method
detecting obstacles
horizontally
horizontally detecting
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.)
Expired - Fee Related
Application number
FR1455099A
Other languages
English (en)
Other versions
FR3022037A1 (fr
Inventor
Bruno Maisonnier
Jorg Ziegler
Vincent Clerc
Nicolas Garcia
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.)
Softbank Robotics SAS
Original Assignee
Aldebaran Robotics SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1455099A priority Critical patent/FR3022037B1/fr
Application filed by Aldebaran Robotics SA filed Critical Aldebaran Robotics SA
Priority to CA2953268A priority patent/CA2953268A1/fr
Priority to MX2016015829A priority patent/MX359304B/es
Priority to US15/311,089 priority patent/US20170082751A1/en
Priority to SG11201609557VA priority patent/SG11201609557VA/en
Priority to AU2015270607A priority patent/AU2015270607B2/en
Priority to BR112016028247A priority patent/BR112016028247A2/pt
Priority to PCT/EP2015/062214 priority patent/WO2015185532A1/fr
Priority to JP2016571011A priority patent/JP2017518579A/ja
Priority to RU2016151213A priority patent/RU2650098C1/ru
Priority to CN201580030059.8A priority patent/CN106687821A/zh
Priority to KR1020177000001A priority patent/KR20170027767A/ko
Priority to EP15726152.0A priority patent/EP3152592A1/fr
Publication of FR3022037A1 publication Critical patent/FR3022037A1/fr
Application granted granted Critical
Publication of FR3022037B1 publication Critical patent/FR3022037B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—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
    • G01S17/02—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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)
  • Manipulator (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
FR1455099A 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif Expired - Fee Related FR3022037B1 (fr)

Priority Applications (13)

Application Number Priority Date Filing Date Title
FR1455099A FR3022037B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif
CN201580030059.8A CN106687821A (zh) 2014-06-05 2015-06-02 利用水平平面探测障碍物的装置以及实施所述装置的探测方法
US15/311,089 US20170082751A1 (en) 2014-06-05 2015-06-02 Device for detection of obstacles in a horizontal plane and detection method implementing such a device
SG11201609557VA SG11201609557VA (en) 2014-06-05 2015-06-02 Device for detection of obstacles in a horizontal plane and detection method implementing such a device
AU2015270607A AU2015270607B2 (en) 2014-06-05 2015-06-02 Device for detection of obstacles in a horizontal plane and detection method implementing such a device
BR112016028247A BR112016028247A2 (pt) 2014-06-05 2015-06-02 dispositivo para detecção de obstáculos com um plano horizontal e método de detecção implementando tal dispositivo
CA2953268A CA2953268A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif
JP2016571011A JP2017518579A (ja) 2014-06-05 2015-06-02 水平面による障害物検出装置およびこのような装置を実装する検出方法
RU2016151213A RU2650098C1 (ru) 2014-06-05 2015-06-02 Устройство обнаружения препятствий на горизонтальной плоскости и способ обнаружения с применением такого устройства
MX2016015829A MX359304B (es) 2014-06-05 2015-06-02 Dispositivo de deteccion de obstaculos en un plano horizontal y metodo de deteccion que implementa un dispositivo de este tipo.
KR1020177000001A KR20170027767A (ko) 2014-06-05 2015-06-02 수평 평면을 이용해 장애물을 검출하는 장치 및 이러한 장치 구현 검출 방법
EP15726152.0A EP3152592A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif
PCT/EP2015/062214 WO2015185532A1 (fr) 2014-06-05 2015-06-02 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1455099A FR3022037B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Publications (2)

Publication Number Publication Date
FR3022037A1 FR3022037A1 (fr) 2015-12-11
FR3022037B1 true FR3022037B1 (fr) 2017-12-01

Family

ID=51485656

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1455099A Expired - Fee Related FR3022037B1 (fr) 2014-06-05 2014-06-05 Dispositif de detection a plan horizontal d'obstacles et procede de detection mettant en oeuvre un tel dispositif

Country Status (13)

Country Link
US (1) US20170082751A1 (fr)
EP (1) EP3152592A1 (fr)
JP (1) JP2017518579A (fr)
KR (1) KR20170027767A (fr)
CN (1) CN106687821A (fr)
AU (1) AU2015270607B2 (fr)
BR (1) BR112016028247A2 (fr)
CA (1) CA2953268A1 (fr)
FR (1) FR3022037B1 (fr)
MX (1) MX359304B (fr)
RU (1) RU2650098C1 (fr)
SG (1) SG11201609557VA (fr)
WO (1) WO2015185532A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3187706C (fr) 2016-08-26 2023-08-29 Crown Equipment Corporation Outils de balayage d'obstacles de vehicule de manipulation de materiaux
WO2018039592A1 (fr) 2016-08-26 2018-03-01 Crown Equipment Corporation Validation de trajet et modification de trajet dynamique de véhicule de manutention de matériaux
CN115328158A (zh) 2016-08-26 2022-11-11 克朗设备公司 物料搬运车辆中的多场扫描工具
DE102018009684A1 (de) 2018-01-18 2019-07-18 Sew-Eurodrive Gmbh & Co Kg Mobilteil mit zumindest einem Modul und Verfahren zum Betreiben eines Mobilteils
CN111596651B (zh) * 2019-02-19 2022-08-09 科沃斯机器人股份有限公司 环境区域划分与定点清扫方法、设备及存储介质
CN109991983B (zh) * 2019-04-10 2020-12-01 拉扎斯网络科技（上海）有限公司 机器人导航方法、装置、***、电子设备及存储介质
CN112198527B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备
CN112198529B (zh) * 2020-09-30 2022-12-27 上海炬佑智能科技有限公司 参考平面调整及障碍物检测方法、深度相机、导航设备

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59135511A (ja) * 1983-01-24 1984-08-03 Komatsu Ltd 光学式障害物検出装置
US4954962A (en) * 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US5040116A (en) * 1988-09-06 1991-08-13 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
JPH05257533A (ja) * 1992-03-12 1993-10-08 Tokimec Inc 移動ロボットの床面掃引方法及び装置
US7209221B2 (en) * 1994-05-23 2007-04-24 Automotive Technologies International, Inc. Method for obtaining and displaying information about objects in a vehicular blind spot
US6173215B1 (en) * 1997-12-19 2001-01-09 Caterpillar Inc. Method for determining a desired response to detection of an obstacle
RU2143708C1 (ru) * 1998-12-25 1999-12-27 Коночкин Анатолий Иванович Способ формирования радиолокационного изображения объекта и устройство формирования радиолокационного изображения
US6496754B2 (en) * 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
FR2820216B1 (fr) * 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
WO2003093857A2 (fr) * 2002-05-03 2003-11-13 Donnelly Corporation Systeme de detection d'objets pour vehicule
US20040066500A1 (en) * 2002-10-02 2004-04-08 Gokturk Salih Burak Occupancy detection and measurement system and method
JP4995458B2 (ja) * 2005-12-12 2012-08-08 本田技研工業株式会社 脚式移動ロボット
JP2008039745A (ja) * 2006-08-10 2008-02-21 Nissan Motor Co Ltd キャリブレーション方法およびキャリブレーション装置
KR101461185B1 (ko) * 2007-11-09 2014-11-14 삼성전자 주식회사 스트럭쳐드 라이트를 이용한 3차원 맵 생성 장치 및 방법
DE102008014912B4 (de) * 2008-03-19 2023-01-19 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
JP2010076527A (ja) * 2008-09-25 2010-04-08 Sanyo Electric Co Ltd 操縦支援装置
JP5247494B2 (ja) * 2009-01-22 2013-07-24 パナソニック株式会社 自律移動装置
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KR20130090438A (ko) * 2012-02-04 2013-08-14 엘지전자 주식회사 로봇 청소기

Also Published As

Publication number Publication date
MX2016015829A (es) 2017-06-28
MX359304B (es) 2018-09-24
AU2015270607B2 (en) 2018-01-04
US20170082751A1 (en) 2017-03-23
CA2953268A1 (fr) 2015-12-10
AU2015270607A1 (en) 2016-12-01
JP2017518579A (ja) 2017-07-06
WO2015185532A1 (fr) 2015-12-10
BR112016028247A2 (pt) 2017-08-22
SG11201609557VA (en) 2016-12-29
KR20170027767A (ko) 2017-03-10
FR3022037A1 (fr) 2015-12-11
EP3152592A1 (fr) 2017-04-12
RU2650098C1 (ru) 2018-04-06
CN106687821A (zh) 2017-05-17

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