1556 results about "Distance measuring equipment" patented technology

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer system.

A system and method for determining a position of a remote object comprising inertial sensors and three axis magnetic sensor, together with a target sighting device aligned with the observation platform to determine a target line of sight and a target range finder to determine a distance to the target along the line of sight. A GPS receiver may be included for determining an observation platform position and orientation, The three axis magnetic sensor provides both magnetic north and vertical attitude information for improved rapid initialization and operation in motion. Magnetic anomaly information is detected by comparing IMU and magnetic navigation information and by other methods. Target identification may be determined by a human operator and / or by computer. The system may be integrated with a weapon system to use weapon system sights. The system may be networked to provide target location and / or location error information to another identical unit or a command information system.

A microprocessor circuit that is used to monitor and control a firearm. The microprocessor circuit accomplishes this by monitoring various sensor & control inputs, and acting on these inputs to execute user defined functions. The microprocessor circuit can use the sensory input to determine firearm statistics. These statistics can include the number of times the firearm has been shot, the efficiency of the firearm automatic action, range-to-target, and et cetera. The firearm system can also use a combination of sensors to fabricate a bullet chronograph whereby the muzzle velocity of a cartridge can be determined. These statistics can be date-stamped and recorded into memory. Statistics from Law Enforcement firearms can be used for courtroom evidence and police reporting. These statistics can also be used for firearm maintenance and warranty repair. The microprocessor circuit can display the statistical data to the user via simple light emitting diodes, or sophisticated liquid crystal displays. Data can also be downloaded to a computer docking station as well. The microprocessor circuit can also display the information within the optics of a riflescope. When used in conjunction with a laser range finder sensor, the microprocessor circuit can adjust the electronic cross-hairs (reticle) to compensate for the bullet trajectory.

Embodiments of the invention comprise an apparatus for use with a laser range finder configured to direct a laser beam toward a scene to measure the distance to a target in the scene and having a range finder display for displaying data, including data that is indicative of the distance to a target, wherein the apparatus comprises a protective housing, a camera module in the housing, the camera module including a lens mounted in a front end portion of the housing, and a light path through the lens to image sensor, an image sensor operatively connected to the camera module for receiving images acquired by the camera module, electronic memory for selectively storing data of images from the image sensor, circuitry for controlling the operation of the image sensor and the memory, a camera display in the housing operatively connected to the image sensor for receiving the image data and providing a visual display of the image, and a switch for storing image data in the memory. Other embodiments include a projector in the housing for projecting the data displayed by the second display onto the image sensor to thereby capture the image data of the scene and displayed distance data together.

A vehicle detection and classification sensor provides accurate 3D profiling and classification of highway vehicles for speeds up to 100 mph. A scanning time-of-flight laser rangefinder is used to measure the distance to the highway from a fixed point above the road surface and then measure the distance to the surfaces of any vehicle that is viewed by the sensor. The beam is pulsed at a high repetition rate for determining vehicle speeds with a high accuracy and uses the calculated speed and consecutive range measurements as the vehicle moves past the sensor to develop a three-dimensional profile of the vehicle. An algorithm is applied to the three-dimensional profile for providing a vehicle-classification. A laser is also used to count the number of axles associated with the vehicle.

The present invention includes, among other embodiments, a system embedded in a vehicle including several inputs. The inputs may include one hard coded data, data from sensors on the vehicle, data from external sensors, user coded data, data received from remote databases, data received from broadcast data steams or data that has been accumulated during use of the vehicle. The inputs provide information regarding vehicle speed, motor rpm, motor torque, battery voltage, battery current, and battery charge level, etc. The embedded system also includes a processor unit that receives information from the plurality of inputs and calculates at least an expected vehicle range. The results of any calculations completed by the processing unit is supplied as an output to a display unit, which then displays the information to the user.

A global navigation satellite system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Relative orientations and attitudes between tractors and implements can be determined using optical sensors and cameras. Laser detectors and rangefinders can also be used.

A closed-loop LRF pointing technology to measure the range of a target satellite from a chaser satellite for rendezvous is provided that includes several component technologies: LOS angle measurements of the target satellite on a visible sensor focal plane and the angles' relationships with the relative position of the target in inertial or LVLH frame, a relative navigation Kalman filter, attitude determination of the visible sensor with gyros, star trackers and a Kalman filter, pointing and rate commands for tracking the target, and an attitude controller. An analytical, steady-state, three-axis, six-state Kalman filter is provided for attitude determination. The system and its component technologies provide improved functionality and precision for relative navigation, attitude determination, pointing, and tracking for rendezvous. Kalman filters are designed specifically for the architecture of the closed-loop system to allow for pointing the laser rangefinder to a target even if a visible sensor, a laser rangefinder, gyros and a star tracker are misaligned and the LOS angle measurements from the visible sensor are interrupted.

A machine-readable symbol reader includes a microfluidic lens assembly providing responsive, reliable auto-focus functionality. A range finder may provide distance to a planar target (e.g., barcode symbol) information for use in auto-focusing, with or without localization. Illumination system, if included, is selectively controlled based on the distance to target and auto-focusing functionality to substantially reduce power consumption. The localization may color optical sensors.

The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.

A method and apparatus are provided to capture images using a laser projection display (LPD). In a full color LPD camera, three lasers (red, blue, and green) are deployed to scan an image and receive reflected laser light therefrom. The reflected laser light may be analyzed and assembled into a picture. The LPD may also be used to display the picture, to operate as a viewfinder, to print the picture, to operate as a range finder, and the like.

A method and a system for operating a mobile robot comprise a range finder for collecting range data of one or more objects in an environment around the robot. A discriminator identifies uniquely identifiable ones of the objects as navigation landmarks. A data storage device stores a reference map of the navigation landmarks based on the collected range data. A data processor establishes a list or sequence of way points for the robot to visit. Each way point is defined with reference to one or more landmarks. A reader reads an optical message at or near one or more way points. A task manager manages a task based on the read optical message.

A measuring device for optically measuring a distance to a target object includes an emitter device for emitting an optical measuring beam to the target object, a capturing device including a detection surface for detecting an optical beam returned by the target object, and an evaluation device. The detection surface has a plurality of pixels, each pixel having at least one SPAD (single photon avalanche diode) and each of the plurality of pixels is connected to the evaluation device. The emitting device and the capturing device are configured in such a manner that the optical measurement beam returned by the target object simultaneously illuminates a plurality of pixels. The evaluation device is configured in order to determine the distance between the measuring device and the target object based on the evaluation of detection signals of several pixels.

A keyboard detects press or release of keys using one or more ranging techniques. Targets are attached to keys of the keyboard. As keys are pressed or released, attached targets move into paths of distance measuring sensors. A range finder determines sensor-target distances and reports those distances to a microprocessor. Based on that distance data, the microprocessor identifies the moved keys. The keys and microprocessor are configured to determine the direction of key motion and to detect simultaneous press or release of keys in a single row or column. A slider control, and / or an integral pointing device tracking motion of a user's finger or other object, may also be included.

A method, computer program product, and apparatus for making and displaying measurements based upon multiple 3D range data sets obtained using a 3D rangefinder device. At least a first and a second 3D range data sets are provided. A 3D transformation is computed therebetween. The first 3D range data set is represented as a first displayed image and the second 3D range data set is represented as a second displayed image. At least two features are identified within the first and second displayed images respectively. A measurement is computed based on at least the first feature and the second feature utilizing the 3D transformation between the first and second 3D range data sets. The computed measurement may be displayed within at least one of the first displayed image and the second displayed image.

A vehicle detection and classification sensor provides accurate 3D profiling and classification of highway vehicles for speeds up to 100 mph. A scanning time-of-flight laser rangefinder is used to measure the distance to the highway from a fixed point above the road surface and then measure the distance to the surfaces of any vehicle that is viewed by the sensor. A rotating polygon scans a beam laser into two beams projected across the road surface at a fixed angle between them. The beam is pulsed at a high repetition rate for determining vehicle speeds with a high accuracy and uses the calculated speed and consecutive range measurements as the vehicle moves past the sensor to develop a three-dimensional profile of the vehicle. An algorithm is applied to the three-dimensional profile for providing a vehicle-classification.

The invention relates to the technical field of mobile robot autonomous navigation and particularly relates to an omnidirectional mobile robot autonomous navigation apparatus and method based on a laser range finder. The omnidirectional mobile robot autonomous navigation apparatus based on the laser range finder comprises an encoder for measuring the movement distance of wheels of a mobile robot, and an inertia measurement unit for measuring the rotation angular velocity and the acceleration of the mobile robot. The encoder and the inertia measurement unit are connected with a controller. The omnidirectional mobile robot autonomous navigation apparatus also comprises the laser ranger finder which is connected with a host computer. The host computer is connected with the controller, and the controller is connected with an execution unit. The invention utilizes the laser range finder to position the mobile robot, establishes a two-dimensional planar map of the environment, carries out autonomous navigation according to a target task, and achieves autonomous obstacle avoidance in the movement.

The object recognition apparatus has an active range finder having a floodlight unit which floodlights a light onto a target object, and determines a distance up to a target object on the basis of a reflected light therefrom, a stereo camera to determine a distance up to the target object on the basis of image information from the target object, an object recognition unit which recognizes the target object on the basis of an output signal from the active range finder and an output signal from the stereo camera, and a fill light control unit which controls the floodlight unit to operate so as to irradiate a light floodlit by the floodlight unit as a fill light of the stereo camera.

An indoor surveying apparatus comprises a 2D range finder, means for automatically aligning 2D range finder data and computing a 2D map of the environment, a calibrated optical imaging system for capturing images of environment, and means for establishing positions and extents of walls, doors, and windows and for drawing floor plans using the computed 2D map and calibrated images where 2D range finder data is missing. It is further contemplated that the imaging system can also be part of the range finder, that the range finder can be a scanning laser range finder, that the imaging system can include a panoramic lens with 180 degree field of view, that the apparatus can further include an IMU, an electronic compass, a panoramic rotator, and means for measuring positions of points on the floor using the image data.

A method and system obtains precise survey-grade position data of target points in zones where precise GPS data cannot be obtained, due to natural or man-made objects such as foliage and buildings. The system comprises a GPS receiver mounted on a survey pole, with an inertial measurement unit (IMU) and an electronic distance meter (EDM) also mounted on the pole. The system and method obtains GPS data when outside the zone and uses the IMU inside the zone to traverse to a target point, using the EDM to obtain data reduce accumulated errors which occur with the IMU.

An illumination system (20, 72, 110, 142) for illuminating a scene comprising: an illuminator (24, 74, 116) having a plurality of substantially contiguous independently controllable light (26, 76) providing regions each of which provides light that illuminates a different region of the scene; optics (30) that directs light from the illuminator to the scene; a range finder (22, 64, 112) that determines distances to regions of the scene; and a controller (28, 29, 118) that controls the plurality of light providing regions to provide light for illuminating the scene responsive to distances determined by the range finder (22, 64, 112).

A system and method for controlling vehicular traffic flow is disclosed, which creates a communication system between vehicles that allows the vehicles to share their respective velocities and acceleration or deceleration rates. Thus, each vehicle within the system can respond immediately to any acceleration or deceleration rate changes of the surrounding vehicles (e.g., the vehicle directly in front, directly in back, and in the adjacent lane). Essentially, the system functions similar to a wireless vehicular train, with a queue of cars linked together by a stiff, wireless communications “chain”. Notably, the term “vehicle” is not limited only to land-based vehicles (e.g., motor vehicles), and the system can include airborne vehicles (e.g., multiple aircraft flying in close formation, military aircraft flying in drone formation, etc.). For example, a system for controlling vehicular traffic flow is disclosed, which includes in each vehicle of a plurality of vehicles, a wireless or infrared (IR) modem for inter-vehicular communications, a range finder for determining the distance and closing rate between vehicles, a processing unit for retrieving vehicular operational data (e.g., velocity, angular velocity, acceleration rate, deceleration rate, braking pressure, weight, pointing vector, etc.) and executing flow control system software instructions, and a vehicular flow control communications protocol that enables the communication of various flow control parameters between vehicles via the wireless or IR modem. Thus, each vehicle in the system “knows” what the surrounding vehicles are doing and can respond immediately to changes in the traffic flow. As such, the system minimizes the distribution of vehicles' velocities in the queue, and increases traffic throughput and safety as a result.

An optical range finder for determining the distance of an object may comprise an optical source of electromagnetic radiation. A focusing optical member focuses the electromagnetic radiation upon a micro-mirror array. A processor controls the micro-mirror array to direct the focused electromagnetic radiation in a defined direction or a defined radiation pattern. A transmission optical member focuses the defined radiation pattern toward an object. A reception optical member receives electromagnetic radiation reflected from the object. A detector detects the receipt of the reflected electromagnetic radiation. A timer determines an elapsed time between transmission of the electromagnetic radiation to the object and receipt of the electromagnetic radiation from the object. A data processor converts elapsed time into a distance between the object and a reference point.

A lazer rangefinder employs time-of-flight measurements for providing high resolution when measuring range and intensity in a system for accurately mapping and classifying agriculture foliage. Profiles and parameters of the foliage and trees are measured and calculated for classifying the tree, controlling mechanical devices for applying only a pre-selected amount of treatment materials to the tree, and estimating production yeilds. Using a global positioning receiver, a global location for the center of each tree, whether fully grown, juvenile, or dead is identified and used in mapping the measured trees.

An aiming telescope has an optical axis and a line of sight. Turrets are provided for adjusting the direction of the line of sight. A range finder is structurally connected with the aiming telescope. The range finder has a light source for emitting an emitted measuring beam. The emitted measuring beam runs outside the aiming telescope. It has a direction coinciding essentially with the direction of the line of sight. A transmission is provided for automatically adjusting the direction of the emitted measuring beam when the direction of the line of sight is adjusted. The light source is pivotably mounted on the aiming telescope. The transmission acts between the aiming telescope and the light source.

A system is provided for determining a distance to a target. In an exemplary embodiment, the system includes a pole and a distance measuring device. The pole includes a plurality of sockets formed in a surface of the pole above a selected lower reflecting point and a reflector mounted in each of the plurality of sockets. The lower reflecting point defines a minimum distance from a first end of the pole above which the reflectors are located for use with the distance measuring device. At least a portion of a signal received from the distance measuring device is reflected back to the distance measuring device by a receiving reflector. The distance measuring device includes a transmitter that transmits the signal at a first time, a receptor that receives the reflected signal from the receiving reflector at a second time, and a processor to determine the distance from the transmitter to the receiving reflector using the first time and the second time.

A weather monitoring, measuring and reporting system which uses unattended, high-resolution digital cameras and laser rangers to both measure and display weather conditions in a local region, such as the region surrounding an airport. Visibility is estimated by processing images in the camera's field of view at known range distances. The light response of the camera is matched to the light response of the human eye. In a preferred embodiment of the invention, the camera generates a digital pixel image of range objects; that is, prominent terrain objects such as, buildings, water towers, etc. in the camera's field of view. The digital pixel values of these range objects are stored in system memory at known address locations. The contrast between an average background pixel value in a region adjacent to an object and the average object pixel value is used to determine if the object is visible. Objects in the field of view are sequentially examined until the contrast to an object falls below the established threshold at which point the visibility is reported as extending to the next closest object with a contrast above the threshold. If the contrast for all objects exceeds the threshold, the process stops and the visibility range is reported as unlimited.