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1. 发明授权

US5970433A Laser obstacle detection method and sensor 失效
标题翻译：激光障碍物检测方法和传感器
公开(公告)号：US5970433A
公开(公告)日：1999-10-19
申请号：US799484
申请日：1997-02-12
申请人： Koji Oka , Masujiro Hisatani , Hiroshi Imajo , Toru Takehara
发明人： Koji Oka , Masujiro Hisatani , Hiroshi Imajo , Toru Takehara
IPC分类号： G01V8/14 , G01J1/02 , G01S7/481 , G01S17/02 , G01S17/93 , G02B26/10 , G05D1/02 , G01C3/00
CPC分类号： G01S17/936 , G01S7/4811 , G01S7/4816 , G01S7/4817 , G01S7/4873 , G02B26/105 , G05D1/024 , G05D1/0272
摘要： A sensor detects the presence or the absence of an obstacle by radiating a laser beam to the outside of a casing through a light projecting mirror and by letting the reflected light from an obstacle enter a light receiving element through a light receiving mirror. A light projecting window with a light projecting mirror positioned and a light receiving window with a light receiving mirror are positioned in the casing with a space therebetween to prevent reflected light from directly entering the light projecting window. The mirrors are attached to a rotation shaft of a motor, or rotation shafts of motors, synchronously rotatable provided between both mirrors. The optical axis of light radiated to the outside of the casing is set to face in a higher direction than horizontal to radiate in a cone-shaped form. By comparing a received light signal from a light receiving circuit to an output signal from a circuit for a previously set threshold, which has a correlation between detected distance and light intensity, a light receiving trigger is output. The distance is calculated when a signal is greater than the threshold. The presence or the absence of an obstacle is determined by the detection of reflected light intensity. This laser obstacle detection method and sensor, which can be used on an automated guided vehicle (AGV), will not misdetect rainfall as an obstacle.
摘要翻译：传感器通过通过光投射镜将激光束照射到壳体的外部并通过使来自障碍物的反射光通过光接收反射镜进入光接收元件来检测障碍物的存在或不存在。具有投光镜的投光窗和具有受光镜的光接收窗位于壳体内，其间具有间隔，以防止反射光直接进入投光窗。反射镜附接到电动机的旋转轴或电动机的旋转轴，其可在两个反射镜之间同时旋转。辐射到壳体外部的光的光轴被设定成比水平方向更高的方向以锥形形式辐射。通过将来自光接收电路的接收光信号与来自电路的输出信号进行比较，对于先前设定的阈值，其具有检测到的距离和光强度之间的相关性，则输出光接收触发。当信号大于阈值时计算距离。障碍物的存在或不存在通过反射光强度的检测来确定。这种可用于自动导引车辆（AGV）的激光障碍物检测方法和传感器不会将雨水误认为障碍。

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