The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 13, 1991
Filed:
Jun. 20, 1990
John M Evans, Jr, Brookfield, CT (US);
Carl F Weiman, Westport, CT (US);
Steven J King, Woodbury, CT (US);
Transitions Research Corporation, Danbury, CT (US);
Abstract
A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of a object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.