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IN2015KN00237A - - Google Patents

Info

Publication number
IN2015KN00237A
IN2015KN00237A IN237KON2015A IN2015KN00237A IN 2015KN00237 A IN2015KN00237 A IN 2015KN00237A IN 237KON2015 A IN237KON2015 A IN 237KON2015A IN 2015KN00237 A IN2015KN00237 A IN 2015KN00237A
Authority
IN
India
Prior art keywords
laser
camera
image
line generator
laser line
Prior art date
Application number
Inventor
Alexander Leonessa
Brian J Boothe
Christopher H Cain
Original Assignee
Pentair Water Pool & Spa Inc
Virginia Tech Intell Prop
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pentair Water Pool & Spa Inc, Virginia Tech Intell Prop filed Critical Pentair Water Pool & Spa Inc
Publication of IN2015KN00237A publication Critical patent/IN2015KN00237A/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Architecture (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Embodiments of the invention provide a pool cleaner control system including a laser range finder with a first laser line generator, a second laser line generator, and a camera. The first laser line generator and the second laser line generator are positioned to emit parallel laser lines and the camera is positioned to capture an image of the laser lines projected on an object. The control system also includes a controller in communication with the laser range finder and configured to control operation of the laser line generators to emit the laser lines and to control the camera to capture the image. The controller is also configured to receive the image from the camera, calculate a pixel distance between the laser lines in the image, and calculate the physical distance between the camera and the object based on the pixel distance.
IN237KON2015 2012-06-27 2013-06-27 IN2015KN00237A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261664945P 2012-06-27 2012-06-27
PCT/US2013/048370 WO2014004929A2 (en) 2012-06-27 2013-06-27 Pool cleaner with laser range finder system and method

Publications (1)

Publication Number Publication Date
IN2015KN00237A true IN2015KN00237A (en) 2015-06-12

Family

ID=49784027

Family Applications (1)

Application Number Title Priority Date Filing Date
IN237KON2015 IN2015KN00237A (en) 2012-06-27 2013-06-27

Country Status (8)

Country Link
US (3) US9086274B2 (en)
EP (1) EP2867611A4 (en)
CN (2) CN108661362A (en)
AU (2) AU2013284446B2 (en)
BR (1) BR112014032713A2 (en)
CA (1) CA2877919A1 (en)
IN (1) IN2015KN00237A (en)
WO (1) WO2014004929A2 (en)

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Also Published As

Publication number Publication date
US11047146B2 (en) 2021-06-29
WO2014004929A9 (en) 2015-08-13
CN108661362A (en) 2018-10-16
EP2867611A2 (en) 2015-05-06
US20150267433A1 (en) 2015-09-24
US20140009748A1 (en) 2014-01-09
WO2014004929A2 (en) 2014-01-03
EP2867611A4 (en) 2016-12-07
AU2013284446A1 (en) 2015-02-12
US9086274B2 (en) 2015-07-21
CN105308414A (en) 2016-02-03
US10024073B2 (en) 2018-07-17
CN105308414B (en) 2018-07-06
CA2877919A1 (en) 2014-01-03
WO2014004929A3 (en) 2015-06-25
US20180320398A1 (en) 2018-11-08
BR112014032713A2 (en) 2017-06-27
AU2013284446B2 (en) 2017-07-13
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