US5247306A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Millimetric wave radar system for the guidance of mobile ground robot
Assignee: Thales SA
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Filing: 1991-10-30
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Granted: 1993-09-21
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Expires: 2011-10-30
Abstract
Abstract The disclosure relates to guidance devices on board autonomous vehicles or robots which have to move about notably in environments that are inaccessible or dangerous to human beings. Disclosed is a device for the detection of the environment, and the positioning and/or the guidance of a mobile vehicle on the ground, of the type comprising, firstly, means for the generation and transmission of a signal that can be reflected by a fixed obstacle and, secondly, means for the reception and processing of the signal reflected by said fixed obstacle, said processing means enabling the recognition of the environment and/or the guidance of said autonomous mobile vehicle, said transmitted signal being a millimetric wave radar signal and said transmission and reception means cooperating with a rotary antenna having a 360° rotation in azimuth.
Inventors
- 👤 Jean-Philippe Hardange
- 👤 Anne Petitdidier
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 14:06
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0257; G01S13/02; G01S13/06; G01S13/08; G01S13/32; G01S13/34; G01S13/881; G01S2013/9316; G01S7/00; G01S7/02; G01S7/28; G01S7/285; G01S7/288; G01S7/2883; G01S7/34; G05D1/0268; G05D1/0274; G05D1/0276; G05D1/028; G05D1/0282
Claims Analysis
Total Claims: 18
Claim 1
Independent Claim
191 words
A device for the detection of the environment, and the positioning and/or guidance of a mobile vehicle on the ground, of the type comprising, firstly, means for the generation and transmission of a signal in frequency modulated continuous millimetric waves that can be reflected by a fixed obstacle and, secondly, signal reception means for receiving said reflected waves and signal processing means for processing said reflected waves, said reception means comprising gain correction means enabling the simultaneous detection of nearby obstacles and distant obstacles; said gain correction means are analog means placed upline from the signal processing means; said signal processing means are digital being located downline from a sampler performing an analog/digital conversion: said gain correction means comprising a first subtractor receiving, firstly, a signal coming from said reception means and, secondly, this same signal delayed by a period of time equal to the sampling period of said analog/digital converter, a second subtractor receiving, firstly, the ouput signal from said first subtractor and, secondly, this same signal delayed by a time equal to said sampling period of said analog/digital converter, the output of said second subtractor supplying said analog/digital converter.
Claim 2
Independent Claim
191 words
A device for the detection of the environment, and the positioning and/or guidance of a mobile vehicle on the ground, of the type comprising, firstly, means for the generation and transmission of a signal in frequency modulated continuous millimetric waves that can be reflected by a fixed obstacle and, secondly, signal reception means for receiving said reflected waves and signal processing means for processing said reflected waves, said reception means comprising gain correction means enabling the simultaneous detection of nearby obstacles and distant obstacles; said gain correction means are analog means placed upline from the signal processing means; said signal processing means are digital being located downline from a sampler performing an analog/digital conversion: said gain correction means comprising a first subtractor receiving, firstly, a signal coming from said reception means and, secondly, this same signal delayed by a period of time equal to the sampling period of said analog/digital converter, a second subtractor receiving, firstly, the ouput signal from said first subtractor and, secondly, this same signal delayed by a time equal to said sampling period of said analog/digital converter, the output of said second subtractor supplying said analog/digital converter.
Claim 3
Dependent Claim
28 words
A device according to claim 1, wherein the transmission and reception means transmit or receive their signal by means of a rotary antennas with a 360° azimuthal rotation.
Claim 4
Dependent Claim
24 words
A device according to claim 2, wherein the rotary antenna device is constituted by two antennas, with an aperture in elevation of about 10°.
Claim 5
Dependent Claim
24 words
A device according to claim 3, wherein the rotary antenna device is constituted by two antennas, with an aperture in azimuth of about 1.5°.
Claim 6
Dependent Claim
25 words
A device according to claim 3, wherein said antennas are of the pillbox type, fixed one on top of the other to prevent transmission leakages.
Claim 7
Dependent Claim
25 words
A device according to claim 4, wherein said antennas are of the pillbox type, fixed one on top of the other to prevent transmission leakages.
Claim 8
Dependent Claim
31 words
A device according to claim 2, wherein said rotary antenna device is fixed on a plane located as high as possible on said autonomous mobile vehicle, notably on a telescopic arm.
Claim 9
Dependent Claim
29 words
A device according to claim 1, wherein said processing means are extra-vehicular, namely placed at a distance from said mobile vehicle, and communicate with said vehicle by radio link.
Claim 10
Dependent Claim
27 words
A device according to claim 1, wherein said reflected signal is memorized and transmitted to said processing means after each complete revolution of said rotary antenna device.
Claim 11
Dependent Claim
60 words
A device according to claim 1, wherein said processing means use image processing algorithms that deliver maps of the environment in which the autonomous mobile vehicle is located in giving a signal for each point of the environment observed, the level of this signal representing the radar equivalent surface of the terrain or of the objects located at this point
Claim 12
Dependent Claim
60 words
A device according to claim 8, wherein said processing means use image processing algorithms that deliver maps of the environment in which the autonomous mobile vehicle is located in giving a signal for each point of the environment observed, the level of this signal representing the radar equivalent surface of the terrain or of the objects located at this point.
Claim 13
Dependent Claim
60 words
A device according to claim 9, wherein said processing means use image processing algorithms that deliver maps of the environment in which the autonomous mobile vehicle is located in giving a signal for each point of the environment observed, the level of this signal representing the radar equivalent surface of the terrain or of the objects located at this point.
Claim 14
Dependent Claim
37 words
A device according to claim 11, wherein said image processing algorithms enable the display of the data elements coming from said autonomous mobile vehicle on a display screen in the form of a 2D or 3D scene.
Claim 15
Dependent Claim
37 words
A device according to claim 12, wherein said image processing algorithms enable the display of the data elements coming from said autonomous mobile vehicle on a display screen in the form of a 2D or 3D scene.
Claim 16
Dependent Claim
34 words
A device according to claim 14, wherein said image processing algorithms carry out a resetting of the image transmitted by said autonomous mobile vehicle with a previously recorded image or with a geographical map.
Claim 17
Dependent Claim
17 words
A device according to claim 1, wherein said autonomous mobile vehicle is remote controlled by radio link.
Claim 18
Dependent Claim
22 words
A device according to claim 1, wherein said autonomous mobile ground vehicle is an all-terrain robot fitted out with wheels and/or tracks.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-09-20 | 1997-03-22 | 1997-09-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-09-20 | 2001-03-22 | 2001-09-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-09-20 | 2005-03-22 | 2005-09-21 | $7700.00 | Window Closed / Lapsed |