System for obstacle detection

Patent metadata

Field	Value
Publication number	US-11669103-B2
Application number	US-202117227732-A
Country	US
Kind code	B2
Filing date	Apr 12, 2021
Priority date	Jan 12, 2018
Publication date	Jun 6, 2023
Grant date	Jun 6, 2023

Abstract

The disclosure is related to a system for obstacle detection adapted to a self-guiding machine. The system includes a controller for driving the system, a light emitter, and a light sensor. The light emitter and the light sensor are set apart at a distance. When the light emitter emits an indicator light being a vertical linear light projected onto a path the self-guiding machine travels toward, the light sensor senses the indicator light. The vertical linear light is segmented into a first segment projected to a ground and a second segment projected to a floating obstacle when the self-guiding machine approaches the floating obstacle with a height from the ground and the indicator light is projected to the floating obstacle, in which the second segment of the light sensed by the light sensor is determined as the floating obstacle in front of the self-guiding machine.

First claim

What is claimed is:

1. A system for obstacle detection installed in a self-guiding machine, comprising:
a controller;
a light emitter, coupled to the controller, being a Laser or an LED to be a linear light source that emits a linear light as an indicator light and the indicator light being a vertical linear light projected onto a path the self-guiding machine travels toward;
a light sensor, coupled to the controller, used to sense the indicator light projected onto the path, wherein the light emitter and the light sensor are set apart at a distance;
wherein, when the self-guiding machine approaches a floating obstacle with a height from a ground and the indicator light is projected to the floating obstacle, the vertical linear light is segmented into a first segment projected to the ground and a second segment projected to the floating obstacle, in which the second segment of the indicator light sensed by the light sensor is used to determine that there is the floating obstacle in front of the self-guiding machine.

2. The system as recited in claim 1 , wherein the system obtains a spatial relationship that is used to compute a distance between the self-guiding machine and the floating obstacle, and determine if the self-guiding machine will collide with the floating obstacle when compared with a collision threshold stored in a memory of the system.

3. The system as recited in claim 2 , wherein, any change of a length, a slope, a position and/or an area of the indicator light in an image of the first segment and the indicator light in an image of the second segment within a time period is used to determine a change of the spatial relationship between the self-guiding machine and the floating obstacle.

4. The system as recited in claim 2 , wherein the controller is instructed to drive the self-guiding machine to avoid the floating obstacle when the self-guiding machine reaches the collision threshold.

5. The system as recited in claim 1 , wherein the linear light is projected onto both the ground and the floating obstacle so as to form the first segment and the second segment of the indicator light being sensed when the self-guiding machine approaches the floating obstacle, and at least one feature of the indicator light being sensed is a length of the first segment or the second segment, a position of the second segment and/or a slope of the first segment.

6. The system as recited in claim 5 , wherein, a change of a length of the indicator light is used to obtain a moving trend of the self-guiding machine and to determine whether or not the self-guiding machine approaches the floating obstacle.

7. The system as recited in claim 1 , wherein the light emitter emits a type of the indicator light, and the light sensor captures one image at one time or a series of images containing the indicator light for a period of time.

8. The system as recited in claim 7 , wherein information extracted from any of the images is used to estimate a distance to the floating obstacle.

9. The system as recited in claim 7 , wherein, a change occurring in the series of images is used to determine whether or not the self-guiding machine approaches the floating obstacle.

10. The system as recited in claim 1 , wherein the light sensor senses the linear light to obtain at least one feature including a length, a position, a slope or an area of the linear light.

11. The system as recited in claim 10 , wherein, any change of the length, the slope, the position and/or the area of the indicator light in an image of the first segment and the indicator light in an image of the second segment within a time period is used to determine a change of a spatial relationship between the self-guiding machine and the floating obstacle.

Assignees

• Pixart Imaging Inc

Inventors

• Chen Kai-Shun
• Wang Wei-Chung

Classifications

• G06V10/141

  Control of illumination · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01C21/206 Primary

  specially adapted for indoor navigation · CPC title

• G01S17/46

  Indirect determination of position data · CPC title