Radiant energy – Photocells; circuits and apparatus – Optical or pre-photocell system
Patent
1983-02-08
1985-12-10
Corbin, John K.
Radiant energy
Photocells; circuits and apparatus
Optical or pre-photocell system
250224, 350 65, 356376, G01B 1124
Patent
active
045582157
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).
REFERENCES:
patent: 3072798 (1963-01-01), Sick
patent: 3091699 (1963-05-01), Hammar
patent: 3476946 (1969-11-01), Kepner
patent: 4059758 (1977-11-01), Wilwerding
patent: 4306147 (1981-12-01), Fukuyama et al.
patent: 4413180 (1983-11-01), Libby
patent: 4427880 (1984-01-01), Kanade et al.
Kaneko Makoto
Komoriya Kiyoshi
Tachi Susumu
Agency of Industrial Science and Technology
Corbin John K.
Eyssallene R.
Ministry of International Trade and Industry
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