System for obstacle detection

Patent metadata

Field	Value
Publication number	US-12099366-B2
Application number	US-202318140084-A
Country	US
Kind code	B2
Filing date	Apr 27, 2023
Priority date	Jan 12, 2018
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

A system for obstacle detection adapted to a self-guiding machine is provided. The system includes a controller, a linear light source and a light sensor. The linear light source and the light sensor are set apart at a distance. When the linear light source 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 linear light source coupled to the controller, wherein the linear light source emits a linear light as an indicator light, and the indicator light is a vertical linear light projected onto a path the self-guiding machine travels toward; and
a light sensor coupled to the controller, wherein the light sensor is used to sense the indicator light projected onto the path, and the linear light source 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 according to 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 according to 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 according to 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 according to claim 1 , wherein 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 according to 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 according to claim 1 , wherein the linear light source 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 according to claim 7 , wherein information extracted from any of the images is used to estimate a distance to the floating obstacle.

9. The system according to 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 according to claim 1 , wherein the light sensor senses the indicator light to obtain at least one feature including a length, a position, a slope or an area of the indicator light.

11. The system according to 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

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/628

  following the obstacle profile, e.g. a wall or undulated terrain · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · 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

• G06V10/141

  Control of illumination · CPC title