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1. (WO2002075350) METHOD AND DEVICE FOR DETERMINING AN ANGULAR POSITION OF A REFLECTOR
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2002/075350 International Application No.: PCT/SE2002/000544
Publication Date: 26.09.2002 International Filing Date: 20.03.2002
Chapter 2 Demand Filed: 10.10.2002
IPC:
G01S 3/783 (2006.01) ,G01S 5/16 (2006.01) ,G01S 11/12 (2006.01) ,G01S 17/87 (2006.01) ,G05D 1/02 (2006.01)
G PHYSICS
01
MEASURING; TESTING
S
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
3
Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
78
using electromagnetic waves other than radio waves
782
Systems for determining direction or deviation from predetermined direction
783
using amplitude comparison of signals derived from static detectors or detector systems
G PHYSICS
01
MEASURING; TESTING
S
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
5
Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
16
using electromagnetic waves other than radio waves
G PHYSICS
01
MEASURING; TESTING
S
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
11
Systems for determining distance or velocity not using reflection or reradiation
12
using electromagnetic waves other than radio waves
G PHYSICS
01
MEASURING; TESTING
S
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
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
87
Combinations of systems using electromagnetic waves other than radio waves
G PHYSICS
05
CONTROLLING; REGULATING
D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1
Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02
Control of position or course in two dimensions
Applicants:
DANAHER MOTION SÄRÖ AB [SE/SE]; S-429 80 Särö, SE (AllExceptUS)
HYYPPÄ, Kalevi [SE/SE]; SE (UsOnly)
Inventors:
HYYPPÄ, Kalevi; SE
Agent:
HANSSON THYRESSON PATENTBYRÅ AB; Box 73 S-201 20 Malmö, SE
Priority Data:
0100954-720.03.2001SE
Title (EN) METHOD AND DEVICE FOR DETERMINING AN ANGULAR POSITION OF A REFLECTOR
(FR) PROCEDE ET DISPOSITIF PERMETTANT DE DETERMINER UNE POSITION ANGULAIRE D'UN REFLECTEUR
Abstract:
(EN) A method for determining an angular position of a reflector from a vehicle reference position in relation to an angular reference position including the step of arranging vertically extended reflectors in a working area. From the vehicle reference position vertical image slices of at least one horizontal segment of the working area are obtained, each image slice comrising a plurality of pixels and intensity values of pixels in each vertical image slice are added into a set of column sums, one position in teh set forming an angular reference point. Then the angular position of a reflector is determined as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point. The invention also includes a method for determining the distance between a reflector and a vehicle reference position using reflectors with a predetermined vertical extension. The number of consecutive pixels having intensity values exceeding a predetermined intensity value is calculated and based on said number of consecutive pixels the distance is calculated. A device for determining the angular position comprises an image sensing means. An adder is provided for adding intensity values of pixels in vertical image slices into a set of column sums and computing means are provided for determining the angular position of a reflector as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point.
(FR) L'invention concerne un procédé permettant de déterminer une position angulaire d'un réflecteur à partir de la position de référence d'un véhicule par rapport à une position de référence angulaire. Ce procédé comporte l'installation dans une zone de travail de réflecteurs d'extension verticale. A partir de la position de référence du véhicule, on obtient des coupes d'image verticales d'au moins un segment horizontal de la zone de travail, chaque coupe d'image contenant plusieurs pixels. Les valeurs d'intensité de pixels de chaque coupe d'image verticale sont additionnées pour obtenir un ensemble de sommes par colonnes, une position de l'ensemble constituant un point de référence angulaire. Ensuite, la positon angulaire d'un réflecteur est déterminée en tant que position d'un pic de somme par colonnes ou d'un sous-ensemble de pics de sommes par colonnes adjacentes dudit ensemble par rapport au point de référence angulaire. L'invention comprend également un procédé permettant de déterminer la distance entre un réflecteur et une position de référence de véhicule à l'aide de réflecteurs d'une extension verticale prédéterminée. On calcule le nombre de pixels consécutifs ayant des valeurs d'intensité dépassant une valeur d'intensité prédéterminée et, sur la base de ce nombre de pixels consécutifs, on calcule la distance. Un dispositif permettant de déterminer la position angulaire comporte un moyen de détection d'image. Un additionneur permet d'additionner les valeurs d'intensité de pixels de coupes d'image verticales pour obtenir un ensemble de sommes par colonnes. Et un moyen de calcul permet de déterminer la position angulaire d'un réflecteur comme la position d'un pic de somme par colonnes ou d'un sous-ensemble de pics de sommes par colonnes adjacentes dudit ensemble par rapport au point de référence angulaire.
front page image
Designated States: AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BR, BY, BZ, CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DZ, EC, EE, ES, FI, GB, GD, GE, GH, GM, HR, HU, ID, IL, IN, IS, JP, KE, KG, KP, KR, KZ, LC, LK, LR, LS, LT, LU, LV, MA, MD, MG, MK, MN, MW, MX, MZ, NO, NZ, PL, PT, RO, RU, SD, SE, SG, SI, SK, SL, TJ, TM, TR, TT, TZ, UA, UG, US, UZ, VN, YU, ZA, ZW
African Regional Intellectual Property Organization (ARIPO) (GH, GM, KE, LS, MW, MZ, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT, LU, MC, NL, PT, SE, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
AU2002243156