Optical spread spectrum detection and ranging

摘要

Example implementations may relate to an obstacle detection system. In particular, an example device may include a light emitter, a line-image sensor, and a controller that are mounted on a rotatable component. In an example embodiment, the line-image sensor may receive light signals emitted from the light emitter. The controller may be communicatively coupled to the light emitter and line-image sensor and configured to determine a multipath signal based on the time of flight of the light signal and the position along the line-image sensor at which the line-image sensor received the given reflected light signal.

主权项

1. A system comprising:
a light emitter configured to emit a light signal; a line-image sensor configured to receive reflected light signals at a plurality of positions along the line-image sensor; and a controller communicatively coupled to the light emitter and the line-image sensor, the controller being configured to determine whether a given reflected light signal received at the line-image sensor is a multi-path signal based on (i) an amount of time between emission of the light signal from the light emitter and reception at the line-image sensor of the given reflected light signal, and (ii) a position along the line-image sensor at which the line-image sensor received the given reflected light signal; wherein the controller is configured to determine that the given reflected light signal is a multi-path signal by:
determining the position along the line-image sensor at which the line-image sensor received the given reflected light signal;based on the determined position, calculating a target window of time subsequent to emission of the light signal; anddetermining that the line-image sensor received the given reflected light signal at a time outside of the target window of time; wherein the line-image sensor has a proximate end and a distal end, the light emitter being positioned nearer to the proximate end than the distal end, and wherein the target window of time is a length of time subsequent to emission of the light signal, the length of time being proportionate to a distance from the proximate end of the line-image sensor to the determined position along the line-image sensor at which the line-image sensor received the given reflected light signal.