Dual bumper-light curtain obstacle detection sensor

• US 4,958,068 A
• Filed: 07/28/1989
• Issued: 09/18/1990
• Est. Priority Date: 11/01/1988
• Status: Expired due to Fees

• Current Assignee: Transitions Research Corp.
• Original Assignee: Transitions Research Corp.
• Inventors: Bancroft, Allen J., Stacy, Robert G., Pong, William
• Primary Examiner(s): Nelms, David C.
• Application Number:
  US07/387,151
• Time in Patent Office: 417 Days
• Field of Search: 250/221, 250/222.1, 250/561, 180/167, 180/168, 901/47, 293/4, 340/555-557
• US Class Current: 250/222.1
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B60R 19/02 Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects B60R19/56 takes precedence; initiating brake action by contact of bumper with an external object B60T7/22; for rail vehicles B61F19/04; safety equipment for cycles B62J27/00; integral with waterborne vessels or specially adapted therefor B63B59/02
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area

Abstract

An obstacle detection and position sensing system for autonomous mobile vehicles is described. The system includes two spaced-apart contact and position sensitive bumpers disposed across the frontal cross section of the vehicle. Light beams are directed by transceivers and retroreflectors across the frontal cross section area between the two bumpers, forming a light curtain. The combination of the bumpers and light curtain provides complete frontal coverage of the potential collision cross-section of a fairly large vehicle, without obstructing the field of view of sonar, optical, or other forward-looking sensors.

Claims

1. Obstacle detection system for an autonomous mobile vehicle comprising:

a first bumper disposed laterally across the frontal cross section of the vehicle;

a second bumper, spaced from the first bumper, and disposed laterally across the frontal cross section of the vehicle; and

an array of light sources disposed on the vehicle for emitting a curtain of light beams between the first and second bumpers;

an array of light receivers disposed on the vehicle for receiving the light beams, said light receivers providing an indication of the position of an object intruding between the first and second bumpers towards the vehicle.

2. Apparatus as claimed in claim 1, wherein:

the array of light sources are disposed on the first bumper;

the array of light receivers are disposed on one of the first or second bumpers.

3. Apparatus according to claim 1, wherein:

the array of light sources are disposed on the first bumper; and

the array of light receivers are disposed on the first bumper with respective light sources; and

further comprising;

an array of retroreflectors disposed on the second bumper in positions for reflecting the light beams from a particular light source to a particular light receiver.

4. Apparatus according to claim 3, wherein:

the light receivers are co-aligned with respective light sources.

5. Apparatus according to claim 4, wherein:

each light source is related to a respective light receiver in a transceiver.

6. Apparatus according to claim 1, wherein the light sources are light emitting diodes.

7. Apparatus according to claim 1, wherein the light sources are modulated.

8. Apparatus according to claim 7, wherein the light receivers are demodulated.

9. Apparatus according to claim 3, wherein the retroreflectors are corner-cube reflectors.

10. Apparatus according to claim 3, further comprising:

first polarizing means, associated with the retroflectors, for rotating the plane of polarization of the light beams; and

second polarizing means, associated with the receivers, rotating the plane of polarization of the reflected light beams.

11. Apparatus according to claim 1, further comprising:

a forward looking sensor mounted to the vehicle and directed through the light curtain to sense objects ahead of the vehicle.

12. Apparatus according to claim 11, wherein the forward looking sensor is a sonar device.

13. Apparatus according to claim 11, wherein the forward looking sensor is a laser device.

14. Apparatus according to claim 11, wherein the forward looking sensor is a vision device.

15. A method of controlling an autonomous vehicle in an environment containing obstacles comprising:

sensing contact with obstacles with two spaced-apart bumpers;

sensing intrusion of an object into an area between the two bumpers with a light curtain.

16. A method according to claim 15, further comprising:

sensing objects in the environment ahead of the vehicle with a forward looking device.

17. A method according to claim 16, wherein the forward looking device is directed through the light curtain.