3D geometry reconstruction using Large Infrared Proximity Array for robotic applications

摘要

In this paper, we propose a novel large infrared proximity array (LIPA), which is capable of reproducing 3D images of the target object. An IPA uses infrared sensors and infrared emitters to accurately measure distance and thus, creates 3D monographic geometry of the sensed objects in real time. In the current setup infrared emitters (LEDs) and photo transistors are used, placed in one package. In many applications determining an obstacle's height, orientation, or distance with a very high resolution is not needed (less than 1-2 mm is enough) but the sensor often should have a big sensing area. Contrary to nowadays techniques we tried to form a rather large but sparse sensor array to cover as big part of the surrounding area as possible. In addition it has the detection range of 1cm to 15 cm (it can be increased depending on the application requirements). 64 LED and photo transistor pairs were used and placed in an 8 times 8 matrix order creating a 9 cm times 9 cm sensor array. We also demonstrate how the resolution of these kind of systems can be increased. The concept of the proposed sensor array spans a wide range of potential applications, i.e. in robotics.