Object detecting apparatus
First Claim
1. Apparatus for detecting the presence of an object within a spatial region disposed downstream of said apparatus, comprising:
- an axis extending through said spatial region within which said object to be detected is disposed;
means for projecting a beam of light in said downstream direction into said spatial region so as to intersect said axis at a predetermined angle with respect to said axis;
means for rotating said light beam projecting means in a circle about said axis while maintaining said predetermined angle of said projecting means with respect to said axis so as to define a conical detecting surface, within said spatial region within which said object to be detected is disposed, for illuminating said object to be detected; and
optical means, disposed upon said axis upstream of said spatial region within which said object to be detected is disposed, for receiving light reflected from said illuminated object,whereby said object to be detected is capable of being detected.
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Accused Products
Abstract
Object detecting apparatus for use, for example, upon a mobile robot to detect objects or obstacles such that the robot may navigate clear of such objects or obstacles includes a source of light for projecting a light beam (7) convergingly toward an axis (9) so as to intersect the axis. The light beam (7) is rotated about the axis (9) within a circular locus (10) while the predetermined converging angle of the beam (7) is maintained constant with respect to the axis (9) so as to generate a light beam detecting surface (8). A condensing lens (2) and light detector (3) are coaxially disposed upon the axis (9) along with the circular locus (10) of the light beam (7) so as to define a viewing field or volume (5). An object-to-be-detected (6) may therefore be detected when the same is illuminated by the projected light beam (7) and its envelope surface (8), and the light reflected from the object (6) is transmitted back to the lens (2) and light detector (3). In a first embodiment of the invention, the light source (4) may itself be rotated about the axis (9) within the circular locus (10) or alternatively, in a second embodiment, the light source (4) may be fixed but have its light beam transmitted to an axially disposed mirror (12) and a peripherally disposed mirror (13) which are rotated within the circular locus (10).
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Citations
20 Claims
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1. Apparatus for detecting the presence of an object within a spatial region disposed downstream of said apparatus, comprising:
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an axis extending through said spatial region within which said object to be detected is disposed; means for projecting a beam of light in said downstream direction into said spatial region so as to intersect said axis at a predetermined angle with respect to said axis; means for rotating said light beam projecting means in a circle about said axis while maintaining said predetermined angle of said projecting means with respect to said axis so as to define a conical detecting surface, within said spatial region within which said object to be detected is disposed, for illuminating said object to be detected; and optical means, disposed upon said axis upstream of said spatial region within which said object to be detected is disposed, for receiving light reflected from said illuminated object, whereby said object to be detected is capable of being detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. Apparatus for detecting the presence of an object within a spatial region disposed downstream of said apparatus, comprising:
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an axis extending through said spatial region within which said object to be detected is disposed; means for projecting a beam of light in said downstream direction into said spatial region so as to intersect said axis at a predetermined angle with respect to said axis; means for rotating said light beam projecting means in a circle about said axis while maintaining said predetermined angle of said projecting means with respect to said axis so as to define a conical detecting surface, within said spatial region within which said object to be detected is disposed, for illuminating said object to be detected; and optical means, disposed upon said axis upstream of said spatial region within which said object to be detected is disposed, for defining a viewing volume encompassing said conical detecting surface generated by said rotated light beam projecting means within which light reflected from said illuminated object is able to be received, whereby said object to be detected is capable of being detected. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification