Object sensing apparatus

Claim 2

Obstacle detection apparatus, comprising: a transmitting array comprising a plurality of radiation emitting elements spaced along a first straight line, said elements being arranged within radiation beamwidth controlling means comprising a first opaque U-shaped cross-section channel for providing a selected diverging first radiation beamwidth in an angular coordinate transverse to said line, each of said emitting elements having a wide second radiation beamwidth in a plane including said line, each of said emitting elements having substantially the same beam direction, whereby the beams of said elements overlap in said plane to form diffuse illumination; a receiving array comprising a plurality of radiation detecting elements spaced along a second straight line, parallel to and spaced from said first straight line, said elements being arranged within beamwidth controlling means comprises a second opaque U-shaped cross section channel, parallel to said first channel for providing a selected diverging first receiving beamwidth in an angular coordinate transverse to said line said detecting elements having a wide second receiving beamwidth in a plane including said 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 emitters 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 transmitting and first receiving beamwidths and the length of said arrays.

Claim 3

Apparatus for sensing objects comprising a plurality of radiation emitting elements arranged along a first selected path and a plurality of radiation detecting elements arranged along a second selected path in proximity to said first selected path, said emitting and detecting elements being arranged to transmit and receive radiation on diverging beams to and from a selected region of space, each of said transmitting beams being oriented in substantially the same beam direction toward said region of space and each of said receiving beams being oriented in substantially the same direction of sensitivity to receive radiation from said region of space, said transmitted radiation from all of said emitting elements occurring simultaneously, and said diverging beams overlapping in said region of space, whereby said region is illuminated with diffuse light, the spacings between said paths and between said elements being selected to cause radiation emitted by said emitting elements to be reflected from objects in said region and received by a plurality of said receiving elements, thereby to detect objects in said region.

Claim 4

Apparatus for sensing objects comprising a plurality of radiation emitting elements arranged along a first selected path and a plurality of radiation detecting elements arranged along a second selected path in proximity to said first selected path, said emitting and detecting elements being arranged to transmit and receive radiation on diverging beams to and from a selected region of space, each of said transmitting beams being oriented in substantially the same beam direction toward said region of space and each of said receiving beams being oriented in substantially the same direction of sensitivity to receive radiation from said region of space, said transmitted radiation from all of said emitting elements occurring simultaneously, and said diverging beams overlapping in said region of space, whereby said region is illuminated with diffuse light, the spacings between said paths and between said elements being selected to cause radiation emitted by said emitting elements to be reflected from objects in said region and received by a plurality of said receiving elements, thereby to detect objects in said region.

Claim 5

Apparatus as specified in claim 1 wherein said first and second straight lines are spaced by no more than 16 mm.

Claim 6

Apparatus as specified in claim 1 wherein said first radiation beamwidth corresponds to said first receiving beamwidth.

Claim 7

Apparatus as specified in claim 4 wherein said corresponding beamwidths are approximately 90°.

Claim 8

Obstacle detecting apparatus, comprising: a plurality of light emitting diodes arranged with equal spacing along a first straight line and including means for limiting a first radiation beamwidth of said diodes to a diverging beam of approximately 90 degrees in a first plane perpendicular to said line, each of said diodes having a wide second radiation beamwidth in a second plane including said line, and each of said diodes having substantially the same beam direction, whereby the beams of said diodes overlap in said second plane to form diffuse illumination; a plurality of light detecting elements, responsive to light emitted by said diodes, and arranged to receive light emitted by said diodes and reflected by an object, but to not receive direct radiation from said diodes, said detecting elements being arranged with equal spacing and between said diodes on a second straight line parallel to said first straight line and spaced less than 16 mm from said first straight line, said detecting elements including means for limiting their first receiving beamwidth to a diverging beam of approximately 90 degrees in said perpendicular first plane and corresponding to said radiation beamwidth, said detecting elements having a wide second receiving beamwidth in said second plane, and each of said detecting elements having substantially the same direction of sensitivity, whereby the beams of said elements overlap and said detecting elements collectively respond to diffuse radiation; means for simultaneously providing said emitting elements with electrical signals having a selected modulation; and receiving means, coupled to said light detecting elements for receiving said modulated signals as reflected by an object within said beams.

Claim 9

Obstacle detecting apparatus, comprising: a plurality of light emitting diodes arranged with equal spacing along a first straight line and including means for limiting a first radiation beamwidth of said diodes to a diverging beam of approximately 90 degrees in a first plane perpendicular to said line, each of said diodes having a wide second radiation beamwidth in a second plane including said line, and each of said diodes having substantially the same beam direction, whereby the beams of said diodes overlap in said second plane to form diffuse illumination; a plurality of light detecting elements, responsive to light emitted by said diodes, and arranged to receive light emitted by said diodes and reflected by an object, but to not receive direct radiation from said diodes, said detecting elements being arranged with equal spacing and between said diodes on a second straight line parallel to said first straight line and spaced less than 16 mm from said first straight line, said detecting elements including means for limiting their first receiving beamwidth to a diverging beam of approximately 90 degrees in said perpendicular first plane and corresponding to said radiation beamwidth, said detecting elements having a wide second receiving beamwidth in said second plane, and each of said detecting elements having substantially the same direction of sensitivity, whereby the beams of said elements overlap and said detecting elements collectively respond to diffuse radiation; means for simultaneously providing said emitting elements with electrical signals having a selected modulation; and receiving means, coupled to said light detecting elements for receiving said modulated signals as reflected by an object within said beams.

Claim 10

Apparatus as specified in claim 1, 2, 3, 4 or 6 wherein said beam direction is substantially the same as said direction of sensitivity.

Claim 11

Obstacle detection apparatus, comprising: a transmitting array comprising a plurality of radiation emitting elements spaced along a first straight line, said elements including radiation beamwidth controlling means for providing for a selected diverging first radiation beamwidth of approximately 90° in an angular coordinate transverse to said line, each of said emitting elements having a wide second radiation beamwidth in a plane including said line, each of said emitting elements having substantially the same beam direction, whereby the beams of said elements overlap in said plane to form diffuse illumination; a receiving array comprising a plurality of radiation detecting elements spaced along a second straight line, parallel to and spaced from said first straight line, said elements including beamwidth controlling means for providing a selected diverging first receiving beamwidth corresponding to said first radiation beamwidth and approximately 90° in an angular coordinate transverse to said line said detecting elements having a wide second receiving beamwidth in a plane including said 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 emitters 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 transmitting and first receiving beamwidths and the length of said arrays.

Claim 12

Obstacle detection apparatus, comprising: a transmitting array comprising a plurality of radiation emitting elements spaced along a first straight line, said elements including radiation beamwidth controlling means for providing for a selected diverging first radiation beamwidth of approximately 90° in an angular coordinate transverse to said line, each of said emitting elements having a wide second radiation beamwidth in a plane including said line, each of said emitting elements having substantially the same beam direction, whereby the beams of said elements overlap in said plane to form diffuse illumination; a receiving array comprising a plurality of radiation detecting elements spaced along a second straight line, parallel to and spaced from said first straight line, said elements including beamwidth controlling means for providing a selected diverging first receiving beamwidth corresponding to said first radiation beamwidth and approximately 90° in an angular coordinate transverse to said line said detecting elements having a wide second receiving beamwidth in a plane including said 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 emitters 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 transmitting and first receiving beamwidths and the length of said arrays.