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    • 专利摘要:
    System and procedure to create. Modulate and detect shadows in systems with control based on a remote display system. System to create, modulate and detect shadows that is achieved by projecting light from a high intensity light source (3) towards two objects in action within a range of wavelengths within which it will exceed the sunlight, and a subsequent capture of the images in the area of emission of the high intensity light source (3), using for the capture at least a remote vision system composed of at least one camera (1) and its corresponding focusing lenses (2) and one or more optical filtering elements (4) that allow only light to pass through the range that we have chosen. Creating such shadows allows you to provide valuable information on the distance between the object that creates it and the object on which the shadow is created. In such a way that, when shadow and object coincide, a collision occurs between the mentioned objects. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2728787A1
    申请号:ES201830413
    申请日:2018-04-25
    公开日:2019-10-28
    发明作者:Lozano Alberto Adarve
    申请人:Defensya Ingenieria Internacional SL；
    IPC主号:
    专利说明:

    [0001]
    [0002] SYSTEM AND PROCEDURE TO CREATE, MODULATE AND DETECT SHADOWS
    [0003]
    [0004] INTRODUCTION
    [0005]
    [0006] There are work environments in which for obvious reasons, it is operated remotely thanks to the action of controls capable of remotely managing certain elements thereof. To obtain the supervision or monitoring information, which helps to perform the different tasks, one or more cameras are used that send images to the operator's monitor (or monitors). To this set of media that include cameras, monitors, etc. and that provide that visual information to the operator, it is called a remote viewing system. The quality and sharpness of the images they provide are fundamental properties to have accurate scene information that allows the performance of the work in a safe and adequate way.
    [0007] In these environments, in which you work with remote viewing systems, the shadows that are generated by the different objects and that appear in the images created by them, are indicative of distance and proximity. For example, when a camera is used to visualize images of the operation of a crane and the end of it approaches an object such as a wall, the distance we see in the images, between the tip of the crane and the shadow of the tip of the same, they are a clear indication of how close this tip is (of the crane), of that wall on which its shadow is cast. The closer both points (crane tip and shadow tip) are visualized, the closer the crane tip is to the wall. And precisely at the moment when both coincide is when the collision occurs against said wall.
    [0008]
    [0009] This is why this auxiliary information provided by the shadows is important and therefore it is also possible to generate them, as is the main objective of this invention. This must be able to be done in any light condition (even in daylight). Thing that this invention performs. It is also important to be able to detect them electronically to precisely acquire the above information automatically and be able to use it in calculations to determine distances and warn of certain situations. For this, this invention allows the shadows generated in intensity to be modulated, which in turn allows a simple procedure to accurately detect its contour in order to obtain the information indicated above. This is also one of the achievements of this invention.
    [0010]
    [0011] We will call the projected object the shadow generating object whose movement we wish to consider. In our example the tip of the crane. And we will call the object on which the shadow of the first one is projected (in our example, the wall). Obviously, the projected object must be in front of the projection object with respect to the light, so that the shadow of the first appears over the second.
    [0012]
    [0013] It is also interesting to note that on certain occasions, the appearance of shadows naturally, on certain areas of the image provided by the remote viewing system, constitutes a serious problem since they create a dark area in the image within which Not only can other shadows not be seen, but not even the details of the objects within them can be distinguished. This represents a serious inconvenience not only because of the decrease in the sharpness of the images but also because of the loss of the additional information they provide. the shadows, which is clear from the previous paragraph. Another advantage of the use of the system and method of this invention is that by creating the desired shadow or shadows, it avoids these referred adverse effects and the shadows that are created with it, are not influenced by any previous shadows that may exist and at the same time they eliminate the unwanted effects of the dark areas created by them.
    [0014]
    [0015] In addition there are conditions (determined by certain locations of the sun and the objects with respect to it) in which the leftovers or do not appear or appear improperly, due to the angles that form the light coming from the sun and the elements of our scenario of work. Obviously, at present, you cannot wait to carry out the operation until these lighting conditions are favorable and therefore, it is only possible to perform said operation (or at least try), without the help of the shadows. The system of the present invention can create the desired new shadows and also ensure that they are always homogeneous so that the operator always has the same type of references for the purposes already indicated above. All the aforementioned objectives can be obtained simultaneously with the system described in this invention, providing information of great value in the performance of the control operations based on the shadows created. Also, various light sources and other optical means can be used to facilitate the generation of shadows and further simplify the detection of shadows as will be explained in a detailed description of this invention.
    [0016]
    [0017] As an example and without loss of generality, we can look at the circumstances that involve refueling in flight with boom (or boom in Anglo-Saxon). In this type of scenario, the shadow of the end of the boom on the fuselage or external surface of the receiving plane, as well as the distance of this to the end of the real boom, is a crucial information in the refueling of this modality, since this distance indicates precisely how close it is to the collision between boom and receiving plane. The boot operator searches for this shadow to ensure that the collision does not occur and to find the distance of the boom to the receiver. But on many occasions, the sun is not in an auspicious place of the sky and its shadow does not appear or does not allow obtaining the above information because, for example, the shadow of the tanker masks the shadow of the boom on the surface of the boot receiver plane In any case, depending on the time of day and in the best case, the shadow of the boom appears differently depending on that time and it is the operator's experience that tells you how to interpret it.
    [0018]
    [0019] It is the cases described in the previous paragraph that can benefit from the system of the present invention that will allow to create a shadow of the boom on the surface of the receiver without any shadow or previous light being able to harm him and also that shadow created will always be the same (independently of the time of day). In addition, and for greater luck from a strategic point of view, the shadow created can be made invisible to simple or to a camera that does not have the appropriate element or elements indicated in the description and claims of the present invention. In addition, this excess created and the way in which it can be observed, allows a vision system to determine its contour with precision, so that the calculation of the distance between the tip of the boom and the tip of its shadow can be obtained accurately and equally the proximity to a possible collision of the boom with that receiver.
    [0020]
    [0021] BACKGROUND OF THE INVENTION
    [0022]
    [0023] The following patent documents related to the object of the invention are known in the prior art, in particular either with the creation of shadows, or their modulation or their detection.
    [0024] CN106708102
    [0025] Shadow shielding detector, has height adjusting rod fixed between first angle adjusting device and second angle adjusting device for adjusting height of first and second angle adjusting devices according to control instruction.
    [0026]
    [0027] Shadow protection detector, has a height adjustment rod fixed between the first angle adjustment device and the second angle adjustment device to adjust the height of the first and second angle adjustment devices according to the instruction of control.
    [0028]
    [0029] JP2014164377
    [0030] Projector for electronic device, has laser-beam scanning part which scans laser beam to projection surface and photon detection part detects reflected light which is scanned by laser-beam scanning part and reflected by detection target.
    [0031]
    [0032] US2012136510
    [0033] Apparatus for detecting vehicle using laser scanner sensor, has control unit which outputs speed control command that reduces speed of specific target vehicle, when specific target vehicle enter into estimated shadow area.
    [0034]
    [0035] CN205902186U
    [0036] Laser-based shadow plasma density distribution detecting device, has mono-color laser for generating monochromatic light after passing through beam expand system, and data processing module for determining density distribution condition.
    [0037]
    [0038] NON-PATENT LITERATURE ITEMS
    [0039]
    [0040] Mo Nan; Zhu Ruixi; Yan Li; Zhao Zhan
    [0041] Deshadowing of Urban Airborne Imagery Based on Object-Oriented Automatic Shadow Detection and Regional Matching Compensation
    [0042] IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing,
    [0043] Zhu Hongmei; Yin Jihao; Yuan Ding; Liu Xiang; Zhang Guangyun
    [0044] Dem-based shadow detection and removal for lunar craters
    [0045] 2016 IEEE International Geoscience and Remote Sensing Symposium (IGARSS),
    [0046] Meng JinSong
    [0047] An accurate and robust adaptive motion shadow detection algorithm
    [0048] 2016 12th World Congress on Intelligent Control and Automation (WCICA),
    [0049]
    [0050] Gao Jin; Dai Jiangyan; Zhang Peng
    [0051] Region-Based Moving Shadow Detection Using Watershed Algorithm
    [0052] 2016 International Symposium on Computer, Consumer and Control (IS3C),
    [0053]
    [0054] Tolt G; Shimoni M; Ahlberg J
    [0055] A shadow detection method for remote sensing images using VHR hyperspectral and LIDAR data
    [0056] Geoscience and Remote Sensing Symposium (IGARSS), 2011 IEEE International,
    [0057] Xin Liu; Bin Dai; Hangen he
    [0058] Real-Time On-Road Vehicle Detection Combining Specific Shadow Segmentation and SVM Classification
    [0059] Digital Manufacturing and Automation (ICDMA), 2011 Second International Conference on,
    [0060]
    [0061] Qi Wu; Wende Zhang; Vijaya Kumar B V K
    [0062] Strong shadow removal via patch-based shadow edge detection
    [0063] Robotics and Automation (ICRA), 2012 IEEE International Conference on,
    [0064]
    [0065] Luca Lorenzi; Farid Melgani; GR CR goire Mercier
    [0066] A Complete Processing Chain for Shadow Detection and Reconstruction in VHR Images IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING,
    [0067]
    [0068] Hui Luo; Zhenfeng Shao
    [0069] A Shadow Detection Method from Urban High Resolution Remote Sensing Image Based on Color Features of Shadow
    [0070] Information Science and Engineering (ISISE), 2012 International Symposium on
    [0071] Prashanth C R; Sagar T; Bhat Naresh; Naveen D; Rupanagudi Sudhir Rao; Kumar R Ashok
    [0072] Obstacle detection & elimination of shadows for an image processing based automated vehicle
    [0073] 2013 International Conference on Advances in Computing, Communications and Informatics (ICACCI),
    [0074]
    [0075] Mtz of Agirre A; Malpica J A
    [0076] Detecting shadows in a segmented Land Use Land Cover image with LIDAR data Geoscience and Remote Sensing Symposium (IGARSS), 2012 IEEE International,
    [0077] Giulietti A; Vaselli M; Giammanco F
    [0078] Shadowgraphic detection of spherical implosive shock fronts produced by laser pulses Optics Communications,
    [0079]
    [0080] Movia A; Beinat A; Crosilla F
    [0081] Shadow detection and removal in RGB VHR images for land use unsupervised classification
    [0082] ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING,
    [0083] - 20160528
    [0084] DESCRIPTION OF THE INVENTION
    [0085]
    [0086] The procedure to obtain the results described in the introduction is simple and simple if they are carefully analyzed and if the "trick" is known as it happens in magic. So we will proceed to its analysis in order to unravel the origin or cause The curious effect that occurs when using the means described in this invention is basically to create shadows and be able to modulate their degree of intensity.
    [0087]
    [0088] To create a shadow we must generate a beam of light that is projected on the projection object after hitting the projected object first. But doing that in the sunlight is not obvious because the intensity of this does not allow us to create new shadows (without introducing new objects), in our work scenario.
    [0089]
    [0090] In order to do it without introducing new objects, we would need, in principle, a source of light as powerful as the sun itself here on earth. However, to dispose of that, even at the level of intensity of the sunlight that reaches the earth once attenuated by all the space that mediates between the two, is a great requirement.
    [0091]
    [0092] Therefore, in this invention we exploit the advantage of being able to compete within a range of conditions that we are going to impose on our light source and that will allow us to compete with sunlight within that same range of conditions.
    [0093]
    [0094] What we do is to illuminate with an intense light source such as a laser or similar source (without loss of generality) that must also have (as with lasers) a high degree of temporal coherence. This means that the emitted light is within a narrow range of wavelengths, in the spectrum that the image sensor that we are going to use in the remote viewing system of our work scenario can capture. We will consider and define a spectral range as " narrow " and as a light source as " intense " if they have such values that combined imply that the light energy generated by the source within the range of wavelengths chosen meets the condition if it is much greater than that light energy generated by the sun within that same wavelength range. According to this, a light source can have a wider range if the energy emitted in it is much and should have a narrower emission range if the emitted light energy is smaller. It is therefore related terms so that the quotient:
    [0095]
    [0096] Q = (emitted light energy) / (spectral range of light energy)
    [0097] Be greater than this value for the sun if we consider the same range of the spectrum.
    [0098] In general this will be true for tens of watt sources with spectral ranges of less than one nanometer, but if the ambient light has decreased for atmospheric reasons, those values should be adjusted properly. Also important is the breadth of the area to which the source points. The greater the spatial coverage, the greater the energy will be necessary. On the other hand, it is also of consideration that the total emitted energy does not exceed a certain value to avoid that the eye or a camera without the appropriate filter can see them under sunlight.
    [0099]
    [0100] With that as a starting premise, it will happen that within the range of wavelengths selected by virtue of the light emitted by our laser, the light energy emitted by it, may already be higher than that emitted by the sun in that same spectral range and therefore a shadow of the projected object will be created over the projection that will have a clear and clear outline.
    [0101] However created the shadow, we can achieve that neither the naked eye nor with any camera can be seen, as well as its outline. And that in order to be able to see them, a band pass filter is placed on the camera that has a width of that range, mentioned above, in which the light of our laser can perfectly compete with that of the sun. The filter eliminates wavelengths that are not within the selected range and the shadow image appears as well as its faithful contour.
    [0102] In order to reduce the required power of our light source and in any case to see better that shadow created and its contour we can use two equal polarizing filters that we will have, one in front of the light source that we use and another in front of the camera of our system of display. In this way, we are eliminating the sunlight that does not have the same polarization that we have selected and therefore we will have less sunlight entering our camera, while the reduction of light that we have made when polarizing our laser is not of the same magnitude .
    [0103]
    [0104] Another obvious improvement to minimize the intensity of the light power required to our source is to use a pointing system that allows us to move the lighting direction in elevation and in a plane parallel to the base of the same, with which we will aim at the area of interest exclusively, reducing the need to illuminate the entire work scenario.
    [0105]
    [0106] But in addition, we can modulate the intensity of our laser so that at a first instant it has a certain output power and the next instant a different one and so on. The result obtained is a blinking shadow of the object of interest on the object of projection. Also the projected object will flash with greater and lesser intensity. This is very interesting because by using an image recognition system based on the difference of an image and the following one we can obtain the precise contour of the shadow generated and from it and the actual projected object to obtain a distance value that It will be very useful to avoid collisions or to warn of the proximity of these. In addition, if desired, pre-existing shadows can be “colored” with the wavelength of our intense light source and thus our recognition system will be able to see those previous colored shadows and exclude those shadows that are “colored”, making it easier still detecting the new shadows created.
    [0107]
    [0108] The previous system can be improved, if instead of a laser we use the sum of two that we will join by means of a semi-transparent mirror that on one side will let the light of one of them pass and on the other hand it will reflect the incident light of the other, spatially adding both sources and thus generating a light source of two narrow ranges of wavelengths.
    [0109]
    [0110] If we now use a multi-band filter that lets the light from the lasers and dim all the others, we can improve the results of our invention by an important factor.
    [0111]
    [0112] The above can be done with a single source of intense light, but if we use two or more and if we also modulate their intensities we can create different shades of different colors (or spectral ranges). The procedure consists in alternating different intensities of the light sources in consecutive moments of time in order to obtain a kind of blinking shadow in intensity similar to that obtained previously but with better results and with the possibility of generating different colored shadows whose treatment by An image processing system is progressively facilitated. We can also create a shadow that appears successively with different intensities of darkness independently of other leftovers that may already exist in the image and, as in the previous case, facilitate its detection by electronic means to obtain data that improves the information of distances within our work scenario. And this so that both day and night or in darkness, the shadow created always behaves in the same way for each relative position of the projected object with respect to the projection.
    [0113] The shadow creation procedure, very basically, consists of:
    [0114] 1. - We place a source of high intensity and temporal coherence at an appropriate point in our work environment.
    [0115] 2. - We aim an intense ray of light from it of one or more narrow ranges of the spectrum, being able to make them pass through a diffuser, towards our area of interest.
    [0116] 3. - We use a band pass filter with a very narrow pass band or with several narrow pass bands to position it in front of the camera lens used for viewing.
    [0117] 4. - We will also optionally use a polarizing filter and a light pointing mechanism that will allow the intensity of the light to be concentrated in a specific area of interest.
    [0118] 5. - In addition, if we use several light sources of different ranges, we can modulate them in intensity following a certain pattern that will lead to an alternative shade coloring.
    [0119] 6. - We use an image processor that can use algorithms such as contour detection, the difference of consecutive frames and the detection of color zones to precisely delineate the location of the shadows created in our image and thus use them as numerical indicators Like proximity in distance.
    [0120]
    [0121] All these auxiliary elements are mainly focused on reducing the demands of light that we must contribute in order to compete with sunlight. In short, we will compete with the sun in a narrow band of the spectrum, with a certain polarization and in a localized area of space. With these additional advantages, the shadow can already be created.
    [0122]
    [0123] In this way and thanks to the help of the elements listed we can create special shadows during the day (and night) competing with sunlight and all this together with the advantage of being able to eliminate the effects of those shadows generated by the sun and that prevent seeing both ours and other elements that are inside them provided that the intensities and ranges of the light sources of our system as well as the auxiliary elements are correctly chosen.
    [0124]
    [0125] As indicated above, one of the curiosities of the result of this invention is that the shadows together with the other effects achieved may not be visible to the naked eye. It would be necessary to have the appropriate filters to make the human eye patent the results obtained by applying the indications of this invention. That has a certain strategic interest by not generating any kind of visual indication that can raise suspicions.
    [0126]
    [0127] If done correctly, neither the cameras of any vision system will have the ability to see them unless we endow it with the filter pass band or pass narrow bands indicated. But our vision system will be able to see them, thanks to the help of the mentioned filter. In a way it is as if we had a key to see the shadows that interest us.
    [0128]
    [0129] Another advantage of this invention is that it simultaneously achieves all the effects that are pursued in a remote environment or scenario controlled by means of a visualization system.
    [0130] It is important to note that the shadows generated by the sun, and the shadows created by our intense light source will not be spatially in the same place. This is obvious and it is because our source is not in the same place as the sun, apart from not presenting the same characteristics as its light. The shadows generated will be larger than the object that generates them, while the shadows of the sun and which we eliminate are of the same size as that of the object that creates them.
    [0131]
    [0132] EXPLANATION OF THE FIGURES
    [0133]
    [0134] In view of the figures, a preferred embodiment of the proposed invention is described below.
    [0135]
    [0136] In Figure 1 we can see a schematic representation of the system to enhance, create or eliminate real or virtual shadows according to the invention.
    [0137]
    [0138] Figure 2 shows a detail of the spectra involved in this invention, both of the light sources used and the filters required for proper operation thereof.
    [0139]
    [0140] Figure 3 shows the images before and after turning on our light sources on a display system monitor.
    [0141]
    [0142] Figure 4 schematically shows the assembly of two matching light sources in the space so that they can generate a single shadow.
    [0143]
    [0144] Figure 5 shows schematically the assembly of two matching image sensors in space so that they can generate two different views of the same area of our work scenario depending on the sensitivities of each of them.
    [0145]
    [0146] PREFERRED EMBODIMENT OF THE INVENTION
    [0147]
    [0148] Without loss of generality, the implementation of the invention detailed here is the particularization of a system to create, modulate and detect shadows in systems with control based on remote viewing systems, which consists of the elements detailed below. . Some of these elements may be optional depending on the intended effect and the manner in which it is obtained, thus giving rise to different claims within the invention itself. The values used in this preferred implementation for wavelengths, power, etc. they do not imply that it cannot be implemented with equal validity with other values, as long as the concepts established here are respected and also constituting said implementation (with other values) another of the possible implementations of this same invention.
    [0149]
    [0150] The system includes:
    [0151] • A remote vision system composed of at least one camera (1) with its corresponding focusing lenses (2) to focus the photons coming from the environment, on the image sensor of the at least one camera (1).
    [0152] • An element of optical filtering (4) of photons mounted on the remote vision system, of the band pass type or band passages so that the photons within that band or spectral bands are let or pass with low attenuation and do not let pass or let the photons whose spectral frequencies are outside the previous band or bands pass with high attenuation.
    [0153] • A high intensity light source (3) and high temporal coherence.
    [0154] • A power supply system to power the system or systems generating photons and other active elements of the system.
    [0155]
    [0156] In a possible embodiment, and in no case limited, the high intensity light source (3) can be a laser of power of about 50W and with an output aperture of about 25 degrees (3) with a length 800nm wave and a bandwidth of less than 1nm with an OD attenuation = 7 out of band
    [0157]
    [0158] The high intensity Light source (3) can optionally have a diffuser / concentrator (9) to obtain the appropriate projection field.
    [0159]
    [0160] The basic system represented by the previous elements allows to obtain the effects object of this invention with different variations, as other elements are added that will also be specified here and that will be part of more complex implementations of this invention.
    [0161]
    [0162] As a fundamental function, the system creates a shadow (6) of a projected object (5) on a projection object (7) even in the worst ambient light conditions. On the other hand, the sun (14) generates a shadow (13) from the projected object (5) on the projection object (7) (such as the floor, a wall, etc. or in the case of refueling with boom the outer surface of the receiving plane) when the projected object (5) is interposed, between the sun (14) and the projection object (7). Therefore, for the system proposed in this invention to function properly, it must be able to create a shadow (6) when the sun (14) generates all its light without interposition of the clouds, without the shadow (13 ), created by the sun (14) or even the sun's own light (8) (14) projected on the projection object (7) by its radiation (15), will harm you.
    [0163]
    [0164] To create the new shadow under sunlight, under the conditions described in the previous paragraph, we emit enough light to overcome the sun. This means that we generate light greater than the intensity generated by it, on the surface of the projection object (7). Otherwise, in principle, the sunlight itself would mask that shadow and prevent its appearance.
    [0165]
    [0166] But it is difficult to have a light similar to that of the sun, even with the intensity with which it reaches Earth, after crossing the space that separates them. So we divide the intensity of that sunlight between the different parts of the spectrum. And in one of those parts of the spectrum is where we are going to compete with it. This way we will be able to decimate the power of this sun and reduce it to be able to compete against it.
    [0167]
    [0168] The shadow creation procedure performed with the system described above comprises the steps of:
    [0169] 1. Project a light from a high intensity light source (3) in the direction of the two objects in action; the projected (5) that generates the shadow when interposed with respect to the other and the object of projection (7) where the shadow appears as a result of the inhibition of photons within its contour because of the first. If the light has sufficient intensity to exceed that of the sun within a range of wavelengths, it will illuminate the object above what the sun illuminated (in that light range). Thus, when the first object is interposed in that light beam from our source, it will create a shadow on the projection object.
    [0170] 2.
    [0171] 3. Obtain the images in the emission area of the high intensity light source (3), using at least one camera (1) and its corresponding focusing lenses (2) to capture.
    [0172] 4. Use a filtering element (4) which is a bandpass filter in order to display only the wavelength light within the selected range, putting it in front of the viewing camera (1). Thus, if the values are adequate, we can clearly see the shadow generated.
    [0173] 5.
    [0174] There are values for the bandwidth of the filter and the attenuation it produces, as well as the laser power and its emission wavelength for which the generated shadows can be seen with the naked eye. While the functionality obtained with those values is the same, however, the strategic property of invisibility is lost when not looking through the filter.
    [0175]
    [0176] The procedure is therefore to start generating a light of high intensity within a narrow spectrum that we have chosen, within which we will compete with the sun to create our shadow. If the light we use for our source within that range (which should be as narrow as possible) is much more intense than that of the sun in that same range, then we will succeed in the task of creating our shadow. (We could even use more than one range to create several shadows or to reinforce the effect.) Although it is obvious, it should be noted that the appearance of the shadow occurs before our eyes if the chosen range of intense light to project is within the visible spectrum If this were not the case, and we would have chosen an infrared range as it is in our case in this preferred implementation, that shadow will not appear unless we look at the scene with a camera whose sensor has sensitivity in that spectral zone. The emitted light must be much higher in light energy, to the sun in the selected band and must be much lower than the rest of the energy emitted by the sun in the rest of the bands so that the latter masks it.
    [0177]
    [0178] We can improve the basic system described here by adding elements that can make it more effective and useful.
    [0179]
    [0180] A first element to be added, optional and complementary, is a pair of polarization filters. The objective is to re-tithe the sun's power to eliminate the light of the sun that is not of a certain polarization, and thus facilitate even more competition with that remaining solar power when creating a shadow. Not only will we have enough energy to create the desired shadow, but we could even eliminate the adverse effect of any previous shadow that could mask it. The polarization filters will be placed, one at the output of the high intensity light source (3) that we use, and another at the entrance to the sensor where we place the filtering element (4) of our vision camera (1). So the light we emit will be of a certain polarization that will be the same as we will look for with our camera by putting another polarizing filter in front of it. Now we will only compete with sunlight that has the same polarization within the range of the selected spectrum.
    [0181] A second element to be added, in a complementary and optional way, to improve the system, is a pointing subsystem (10) as indicated in Figure 1. It is a subsystem composed of a platform that can rotate, in a parallel plane to the ground with respect to a vertical axis and with respect to a horizontal axis using a control electronics and a pair of motors. . This subsystem allows the high intensity light source (3) to be pointed when rotating with respect to a horizontal axis by modifying its elevation (12) and being able to make a rotation with respect to a vertical axis by performing a rotation (11) parallel to the base and modifying its orientation, which will allow addressing to almost any part of the surrounding space and will save, for that reason, energy when creating different areas where you want to generate the above effects.
    [0182] Another way to create the shadows in a similar way to that explained is to use a light source that emits in two ranges of the spectrum simultaneously (Figure 2) and use an optical filtering element with two pass bands corresponding to the previous spectra of the light that generates them. By emitting in two different wavelength ranges, the camera (1) will be able to add the photons of both ranges, which will allow it to compete with the sun more easily. To obtain this, a first laser generator (23) and a second laser generator (24) can be used as in Figure 4, which inject their light simultaneously into a semi-transparent mirror (25) where the lasers are mixed in the same point of space and thanks to a lens (26) are introduced in an optical fiber (27). From it, the outgoing light is molded with a diffuser / optical concentrator element (28) to a certain projection field to illuminate the appropriate area of our stage where the two spectral components of the two lasers used will be mixed. In addition, by modulating the relative intensity of each laser we get the "color" of the shadow to vary accordingly.
    [0183]
    [0184] We can also modulate the intensity of the shadow or created shadows, changing the intensity of our source or light sources, by using a dimmer or light amplifier at the exit of the diffuser focus. Said attenuator may consist of a variable polarization system located in the concentrator diffuser (9) that can be controlled electronically. The amplification / attenuation can consist of a supply of greater energy to the source by means of an amplifier / attenuator (21) or (33) that would increase / attenuate the generation of photons to intensify the energy emitted by our light source. The above are valid as examples, without prejudice to using other and similar hybrids with the same functionality.
    [0185]
    [0186] For information purposes, it should be noted that the shadows generated by the sun will be of the same size as the objects that generate them due to the geometry of their rays, while the shadows generated by our high intensity sources (except for a specific design for some very specific case). particular) will be larger than the objects that generate them, also due to the geometry of the rays that emerge from a more concentrated area. However, it is important to indicate that although there are differences between the shadows generated by our source and the sun, they do not violate the validity of the initial statements of this invention that will remain valid and it will remain true that the point where an object and their shadow converge will be when both are close to the collision of the first object with the one where their shadow appears.
    [0187]
    [0188] It can be very useful to add to the basic system described at least one additional camera and an image processor (19) associated with one or several monitors (20) where the images can be displayed. The images of the camera or cameras (1) arrive to the image processor (19) and together with a procedure like the one described in the following paragraph we can easily obtain the locations of the shadows and from the outline of these, the location spatial of the object and because of its proximity to its shadow (6), the distance between the projected object (5) and the projection object (7) where they appear. We can also determine the expected collision point and generate a visual indication artificially generated by our image processor. We can also intensify the shadows virtually, creating a shadow drawing on the projection object (7) that we will add by mixing real and virtual image with the real shadow generated.
    [0189]
    [0190] The procedure to detect the contour of the shadow generated in order to find its location and be able to use it to obtain the measures of interest is as follows:
    [0191] 1. We generate the shadow (6) of the projected object (5) on the projection object (7).
    [0192] 2. We make this shadow blink in different picture frames by turning off and on the high intensity light source (3)
    [0193] 3. We compare the different image frames obtained by the cameras (1) to find the differences between them, thus finding the shadows generated.
    [0194]
    [0195] In short, the particularities presented by the system would be:
    [0196]
    [0197] - The high intensity light source (3) generates a series of pulses of varying amplitude (of different intensity) in order to generate, alternatively, a shadow of high intensity and another of less intensity. - The images of consecutive frames of image corresponding to shadows of different intensity are obtained to find the difference between them and thus determine their contour and locate the shadow generated. - The location of the projected real object that creates the shadow is obtained by interposing with the high intensity light source, using alternative image recognition techniques.
    [0198] - The distances between real object and its shadow are determined.
    [0199] - The above distances are indicated as information of interest in collision prevention.
    [0200]
    [0201] Instead of generating shadows of different intensity alternatively, two light sources can be used to alternatively create shadows of different wavelengths that will be detected with a camera with a filter with two narrow-band passages or with a camera Dual sensor like the one in figure 5, each with its corresponding bandpass filter.
    [0202]
    [0203] With exact determination of the pixels of the image that correspond to the shadows created, we proceed to intensify the leftovers, to define their contours, to calculate the distances to the object that creates them, as well as to write (overlay) in the image the calculated distances or even warn of the proximity to a possible collision between the projection and projected objects depending on those parameters.
    [0204]
    [0205] If the type of application allows us, as in refueling with a boom, we add one or more markers to the projected object (5). These can be passive reflective elements or active light elements (22) such as LEDs in this preferred implementation. This greatly facilitates the previous recognition work to locate the position of the projected object (5) carried out by the image processor (19). This active element of light that, as mentioned, could also be a passive reflector, facilitates the task of locating the situation of the projected object (5) by using two or more cameras such as (1) placed in different positions of space . The cameras will allow a 3D triangulation that will give us the position of the markers. The wavelength of the light emitted by the markers, if they are active, must be within the range of the optical bandpass filters used for the visualization of the shadows, already described above.
    [0206]
    [0207] For the detection of the shadows we can also use two cameras, a first camera (29) and a second camera (30) in a special assembly that will facilitate the task of determining its contour. The cameras in Figure 5, (29) and (30) will be used in an assembly that allows them to see the same region of space. For this they use a spatial divider (32) which is a semi-silver mirror that allows, together with a common lens (31) where the bandpass filter, referred to previously, will also be located. This allows on the one hand to use a bandpass filter for each camera, assigned to each a specific range of the spectrum. On the other, that the images of the shadows created by the two necessary light generating sources coincide precisely in space when viewed from the same point and generated equally from a single spatial point.
    [0208] The system in a complementary embodiment includes a structured light source that is sent coincidentally with the light from the intense source (3) and subsequently recognized by the image processing system (19) in order to determine the points of intersection between real image and shadow and thus be able to create an overlay on the image that indicates the point of intersection of both. Said structured lighting is obtained using a diffraction lens in which a specific pattern has been engraved and which, when crossed by a laser, generates the projection of said pattern on the projection object of our stage. An adequate processing of the images and the precise determination of the object (5), will allow, together with the shadow, to determine the parameters of distance and proximity to the collision that have already been indicated above.
    [0209] Finally, in the case that it is difficult to find a bandpass filter in the exact band of the laser used, we can generate, although with a worse performance, the light of high intensity and high temporal coherence by means of a light of high intensity that includes the lengths wave to which we go to work to which we add in its output, a bandpass filter similar to the one we put to the camera (1). Thus, light emitted and received by the camera will be in the same spectrum range as desired.
    权利要求:
    Claims (19)
    [1]
    1.- A system to create, modulate and detect shadows in systems with control, based on a remote viewing system, on a projection object (7) characterized in that it comprises:
    - A remote vision system composed of at least one camera (1) and its corresponding focusing lenses (2).
    - One or more high intensity light sources (3) generating a large number of light photons within a narrow spectral range that the photons project on a projection object (7) in which to create the new shadows (13) of a projected object (5).
    - One or more optical filtering elements (4) mounted on the remote vision system, where the photon optical filtering element (4) are of the narrow band pass or narrow band passages such that, let or pass with low attenuation, the photons within those spectral bands and do not let or pass with a high attenuation, the photons whose spectral frequencies are outside the previous band or bands.
    - A power supply system to be provided to the system or systems generating photons and other active elements of the system.
    Where
    The narrow spectral range and the high intensity light source have such values that combined imply that the light energy generated by the source within the chosen wavelength range meets the condition of being able to distinguish it from that light energy generated by the sun within that same wavelength range.
    [2]
    2. - A system for creating, modulating and detecting shadows in systems with control, based on a remote viewing system according to claim 1, characterized in that the high intensity light source (3) of light photons has a filter polarization while the camera or cameras (1) of your display system also have polarizers.
    [3]
    3. - A system for creating, modulating and detecting shadows in systems with control, based on a remote viewing system according to claim 2, characterized in that the polarizers are variable and are controlled by a polarization controller thereof.
    [4]
    4. - A system for creating, modulating and detecting shadows in systems with control, based on a remote viewing system according to any of the preceding claims, characterized in that the high intensity light source (3) is mounted on a platform which can rotate in a plane parallel to the ground with respect to a vertical axis and with respect to a horizontal axis, its elevation (12) being modifiable and making a turn (11) parallel to the base.
    [5]
    5. - A system for creating, modulating and detecting shadows in systems with control, based on a remote viewing system according to any of the preceding claims, characterized in that the photon light source (3) generates high light different very narrow ranges of wavelengths and the optical filtering element (4) is a multi-band band pass element that lets the wavelengths of the previous narrow ranges pass and does not let pass (or lets pass with much attenuation) the wavelengths that are outside the previous ranges.
    [6]
    6. - A system for creating, modulating and detecting shadows in systems with control, based on a remote viewing system according to any of claims 3 to 5, characterized in that the polarization controller of the high intensity light source (3) is in connection with an amplifier / attenuator (21) for attenuation and amplification of the generated light.
    [7]
    7. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims characterized by comprising the high intensity light source (3) in addition to a diffuser element / optical concentrator (9) that allows to increase or reduce the projection field of the generated light.
    [8]
    8. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims, characterized in that associated with the remote viewing system are arranged one or several monitors (20) where they can be displayed the images.
    [9]
    9. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to claim 8, characterized in that a subsystem is also included between the monitor (s) (20) and the remote viewing system. Image processing (19) with the ability to recognize the different elements of the work scenario, determine their contours and create virtual shadows in those places of interest.
    [10]
    10. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims, characterized in that the system comprises at least two cameras (1) with their corresponding focusing lenses ( 2), both independent and placed pointing to a fixed point of interest in space and separated from each other a fixed distance, which allows them to generate a 3D image.
    [11]
    11. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims, characterized in that the system has on the projected object (5) with one or more points of light ( 22) or active markers that the camera or cameras (1) of your visualization system capture and by means of a triangulation determine their spatial coordinates accurately facilitating the determination of the position of the projected object (5) with respect to the projection object (7) .
    [12]
    12. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to the preceding claim, characterized in that the light spot (22) or active markers are synchronized with the camera or cameras by means of an electronic synchronism subsystem.
    [13]
    13. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims 1 to 10, characterized in that the system has the system on the projected object (5) with one or more more reflective points of light or passive markers than the camera or cameras (1) of its visualization system capture and by means of a triangulation determine its spatial coordinates accurately facilitating the determination of the position of the projected object (5) with respect to the projection object (7).
    [14]
    14. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims, characterized in that the remote viewing system has two cameras (1) where each camera (1) of the system includes:
    • Two cameras, a first camera (29) and a second camera (30) in a mount that allows them to see the same region of space.
    • a spatial divider (32) that is a semi-silver mirror
    • a common lens (31)
    • Two independent pass-band filters placed in front of each image sensor each with a different band.
    In this way, each camera could receive different spectral information, simplifying the bandpass filters without losing the ability to observe the work scenario from the same geometric point in space, which facilitates the detection and digitalization of the generated shadows.
    [15]
    15. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims characterized in that it includes a structured light source that is sent coincident with the light of the intense source (3) and subsequently recognized by the image processing system (19) in order to determine the points of intersection between real image and shadow and thus be able to create an overlay on the image that indicates the point of intersection of both.
    [16]
    16. - A system for creating, modulating and detecting shadows in systems with control based on a remote viewing system according to any of the preceding claims characterized in that it includes an additional pass-band filter for use with the high intensity source that in this case it will need more power but it will have the same operating range as the camera of the display system used.
    [17]
    17. - Procedure for creating, modulating and detecting shadows in systems with control based on a remote display system that employs a system according to any of claims 1 to 16 characterized in that it comprises the steps of:
    - project a light from a high intensity light source (3) in the direction of two objects in action; a projected object (5) that generates the shadow when interposed with respect to the other and a projection object (7) where the shadow appears as a result of the inhibition of photons within its contour because of the former. The light projected by the projected object (5) is within a range of wavelengths within which it will exceed the sunlight and therefore over illuminate the object more than it was (in that light range). Thus, when the first object is interposed in that light beam from our source, it will create that shadow that can only be visible in the range of light we have chosen.
    - Capture of the images in the emission area of the high intensity light source (3), using at least one remote vision system composed of at least one camera (1) and its corresponding focusing lenses (2) ) and one or more optical filtering elements (4) that let only the light of the range we have chosen (or even less) pass through. That way, this hidden shadow will appear before our eyes and we will have obtained another part of the objective of this invention.
    [18]
    18. - Procedure for creating, modulating and detecting shadows in systems with control based on a remote viewing system that employs a system according to claim 17 characterized in that:
    - The high intensity light source or sources (3) Generate a series of pulses of varying amplitude (of different intensity) in order to generate, alternatively, a shadow of high intensity and another of less intensity.
    - The images of consecutive frames of image corresponding to shadows of different intensity are obtained to find the difference between them and thus determine their contour and locate the shadow generated.
    - The location of the projected real object that creates the shadow is obtained by interposing with the high intensity light source, using alternative image recognition techniques.
    - The distances between real object and its shadow are determined.
    - The above distances are indicated as information of interest in collision prevention.
    [19]
    19. Procedure for creating, modulating and detecting shadows in systems with control based on a remote viewing system that employs a system according to claim 17 characterized in that
    - the high intensity light source (3) are two light sources and generate a series of pulses of different wavelengths
    - The images detected are obtained with a camera with a filter with two narrow band passages or with a double sensor camera each with its corresponding band pass filter.
    - The location of the projected real object that creates the shadow is obtained by interposing with the high intensity light source, using alternative image recognition techniques.
    - The distances between real object and its shadow are determined.
    - The above distances are indicated as information of interest in collision prevention.
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    同族专利:
    公开号 | 公开日
    WO2019207189A1|2019-10-31|
    ES2728787B2|2021-02-09|
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    ES201830413A|ES2728787B2|2018-04-25|2018-04-25|SYSTEM AND PROCEDURE TO CREATE, MODULATE AND DETECT SHADOWS IN SYSTEMS WITH CONTROL BASED ON A REMOTE VISUALIZATION SYSTEM|ES201830413A| ES2728787B2|2018-04-25|2018-04-25|SYSTEM AND PROCEDURE TO CREATE, MODULATE AND DETECT SHADOWS IN SYSTEMS WITH CONTROL BASED ON A REMOTE VISUALIZATION SYSTEM|
    PCT/ES2019/070274| WO2019207189A1|2018-04-25|2019-04-23|System and method for creating, modulating and detecting shadows in control systems based on a remote viewing system|
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