IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
UP-0587163
(2005-03-16)
|
등록번호 |
US-7667859
(2010-04-09)
|
우선권정보 |
FR-04 04352(2004-04-23) |
국제출원번호 |
PCT/FR2005/000643
(2005-03-16)
|
§371/§102 date |
20070420
(20070420)
|
국제공개번호 |
WO05/111536
(2005-11-24)
|
발명자
/ 주소 |
- Franceschini, Nicolas
- Viollet, Stephane
- Boyron, Marc
|
출원인 / 주소 |
- Centre National de la Recherche Scientifique (C.N.R.S.)
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
0 |
초록
▼
Method and device for the detection of an essentially rectilinear contrast edge (E) in a direction, whereby a periodic sweep (Ω) of global visual angle (Δψ) of the optical sensors, by translation (S) in another direction transverse to the first direction, is carried out. The transl
Method and device for the detection of an essentially rectilinear contrast edge (E) in a direction, whereby a periodic sweep (Ω) of global visual angle (Δψ) of the optical sensors, by translation (S) in another direction transverse to the first direction, is carried out. The translation provides a periodic sweep of non-uniform angular speed (ψ) during a part of the period of sweeping and a measurement of a time difference (t) from the signals provided by the sensors (D1, D2), depending on the angular position of the contrast edge (E) with relation to a reference direction (OY12) within the global visual angle (Δψ) from the sweep law (Ω), the reference direction being connected to a specific value for the time difference (t). The above is of application to spatial stabilization of a sight line and the fine following and fixing of an object with at least one contrast edge.
대표청구항
▼
The invention claimed is: 1. A method for detecting a contrast edge having a light transition zone which is substantially rectilinear in a given direction and separating two regions of differing luminance, comprising the steps of: providing a device wherein the device including: at least an assembl
The invention claimed is: 1. A method for detecting a contrast edge having a light transition zone which is substantially rectilinear in a given direction and separating two regions of differing luminance, comprising the steps of: providing a device wherein the device including: at least an assembly formed by a first optical sensor and a second optical sensor having a total angle of vision delimited by an average direction of observation of the first optical sensor and the second optical sensor, and a lens having an optical centre intercalated between the assembly and the light transition zone, the first optical sensor and the second optical sensor being placed substantially in an image focal pane of the lens; carrying out, in another direction transverse to the given direction, periodic positional scanning of the total angle of vision of the first optical sensor and the second optical sensor by relative translation of the assembly in this other direction, a law of periodic scanning corresponding to non-uniform scanning for at least a portion of each period of periodic scanning, the total angle of vision being delimited by the average direction of observation of the first optical sensor and the second optical sensor; measuring, on a basis of signals delivered by the first optical sensor and the second optical sensor, a time difference which depends on an angular position of the light transition zone, relative to a reference direction contained in the total angle of vision, based on the scanning law, the reference direction being linked to a specific value of the time difference. 2. The method as claimed in claim 1, wherein said given direction and said other direction transverse to this given direction are orthogonal. 3. A device for detecting a contrast edge having a light transition zone which is substantially rectilinear in a given direction, device comprising: at least a first optical sensor and a second optical sensor having a total angle of vision delimited by an average direction of observation of the first optical sensor and second optical sensor; a lens having an optical centre, the first optical sensor and the second optical sensor being placed substantially in an image focal plane of the lens and average directions of observation of the first optical sensor and the second optical sensor corresponding substantially to a line linking a centre of the first optical sensor or the second optical sensor and the optical centre of this lens; means for relative translational displacement of the assembly formed by the first optical sensor and the second optical sensor relative to the lens, or for translational displacement of the lens relative to the assembly formed by the first optical sensor and the second optical sensor, in another direction transverse to the given direction, with periodic positional scanning of a total angle of vision according to a law of periodic scanning which is not uniform for at least a portion of each periodic scanning period; and means for measuring, on a basis of the detection signals, a time difference between the signals linked to an angular position of the light transition zone relative to a reference direction contained in the total angle of vision on a basis of a scanning law, this reference direction being linked to a specific value of the time difference. 4. The device as claimed in claim 3, wherein the first optical sensor and the second optical sensor are each formed by a photoelectric sensor. 5. The device as claimed in claim 3, wherein said means for relative translational displacement comprise, when said lens is stationary: a deformable support element integral with said assembly formed by the first optical sensor and the second optical sensor and with a stationary reference mechanical support; means for applying, to said deformable support, a stress for controlling periodic displacement to generate a periodic translational displacement in the other direction of the assembly formed by the first optical sensor and the second optical sensor according to said scanning law relative to said stationary reference mechanical support; and means for measuring the linear position of the first optical sensor and the second optical sensor or of the lens on a basis of a deformation of the deformable support. 6. The device as claimed in claim 3, wherein said means for relative translational displacement comprise, when the said assembly formed by the first optical sensor and the second optical sensor is stationary: a deformable support element integral on the one hand with the lens and with a stationary reference mechanical support; means for applying, to the support element, a stress for controlling periodic displacement to generate a periodic translational displacement in the other direction of said lens according to said scanning law relative to said stationary reference mechanical support. 7. The device as claimed in claim 5, wherein said means for applying a stress for displacement control comprise at least: a scanning generator delivering a scanning voltage; a shaping circuit receiving the scanning voltage and delivering an intermediate scanning control signal, according to the nonuniform scanning law; an amplifier circuit, supplied with direct current, controlled by said intermediate scanning control signal and delivering a voltage for periodic control of displacement; an electromechanical actuator which is sensitive to the periodic control voltage. 8. The device as claimed in claim 3, wherein said means for measuring the angular position of the light transition zone comprise at least: a separating amplifier receiving the signals delivered by the first and second optical sensor and delivering amplified signals: an elementary movement detecting module receiving said amplified signals which allows, on the basis of said time delay and of the nonuniform scanning law, delivery of a signal which depends substantially linearly on the angular position of said light contrast zone relative to said reference direction. 9. The device as claimed in claim 3, wherein the given direction and other direction transverse to said given direction are orthogonal. 10. The device as claimed in claim 3, wherein it further comprises means for orientation of the assembly formed by the deformable support element, the lens or the assembly of the first optical sensor and the second optical sensor, and the stationary reference mechanical support, in order to orient a direction of the periodic translational displacement of the lens or of the assembly of the optical sensors in the other direction transverse to said given direction of the substantially rectilinear light transition zone. 11. The device as claimed in claim 3, wherein the first optical sensor and the second optical sensor are formed by a rectangular matrix of photodiodes and in that the means for relative displacement of the first and second detection device and of the direction of relative periodic displacement thereof are formed by: a substantially rectangular frame; means for resilient connection of the photodiode matrix to the frame; and electromechanical means for alternately generating periodic displacement of the photodiode matrix or of the lens in a first and second direction perpendicular to the frame. 12. The device as claimed in claim 3, wherein the device further comprises a plurality of elementary devices, each elementary device which comprises a stationary lens being arranged substantially on a spherical surface comprising a common centre, the common centre constituting, in the case of said device, the optical centre of a total angle of vision broadened to all the angles of total vision of each of the elementary devices taken together. 13. A system for the visual fixing and fine tracking of a target comprising at least a contrast edge having a light transition zone which is substantially rectilinear in a given direction which constitutes this contrast edge, wherein it comprises at least: a detection device (DD) as claimed in claim 3; a mechanical support (ET) in which said detection device can be oriented; a means H(p) for measuring the speed of rotation of said mechanical support (ET); a means for direct openloop control of the orientation of the reference direction of said detection device, this control means delivering a direct control signal (UVOR) on the basis of measurement of the speed of rotation of said mechanical support (ET); means forming a visual servo control loop for slaving the reference direction to the detected direction of at least a contrast edge belonging to the target; means for merging said direct control signal (UVOR) and the visual servo control signal by linear combination. 14. The system as claimed in claim 13, wherein the means for direct control of the orientation of the reference direction of the detection device on the basis of a speed of rotation of the mechanical support comprises a corrector (CVOR(p)) capable of controlling the reference direction of the detection device (DD) in phase opposition and with a gain which is substantially unitary relative to an angular position of said mechanical support (ET), so as to rapidly compensate for any disturbance in rotation generated by the mechanical support (ET). 15. The system as claimed in claim 13, wherein the means forming a visual servo control loop comprise at least; said detection device (DD), a polarity reversing switch (Inv) for an output signal delivered by the detection device (DD); a nonlinear transfer function (ZSL); a loop corrector (Cv(p)). 16. The system for visual fixing and fine tracking of a target as claimed in claim 13, wherein said merger means are formed by a subtractor (St) receiving an output signal delivered by the direct control means and the servo control signal.
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