Object sensing apparatus

Claim 1

Obstacle detection apparatus comprising: first and second transmitting arrays each having a plurality of radiation emitting elements spaced along a respective one of first and second mutually-parallel, spaced-apart, straight lines, said elements in each array including radiation beamwidth controlling means for providing a respective one of first and second selected diverging radiation beamwidths in an angular coordinate transverse to the line along which the elements are spaced, said elements of each array having a respective one of third and fourth wide radiation beamwidths in a plane including the line along which the elements are spaced, and said elements in each array having substantially the same beam direction, whereby the beams of said elements of the array overlap in said plane to form diffused illumination; a receiving array comprising a plurality of radiation detecting elements spaced along a third straight line, parallel to and spaced from said first and second straight lines, said elements including beamwidth controlling means for providing a selected diverging first receiving beamwidth in an angular coordinate transverse to said third line, said detecting elements having a wide second receiving beamwidth in a plane including said third line, each of said detecting elements having substantially the same direction of sensitivity whereby the beams of said elements overlap and said elements collectively respond to diffuse radiation; means for simultaneously providing said emitter with electrical signals to be radiated; and means for receiving signals detected by said detecting elements thereby to determine the presence of a radiation reflecting object within a region of space corresponding to said first and second transmitting and said first receiving beamwidths and the length of said arrays.