| 摘要 |
<p>PURPOSE:To distinguish between a guide rail and other obstacles directly by outputting >=3 transmitting beams at specific time intervals and photodetecting the beams which are reflected by the obstacles. CONSTITUTION:A pulse driving circuit 10 outputs sent pulses to drive a fixed multi-beam pulse radar transmitter 12 at specific time intervals. The transmitter 12 outputs pulsative transmitting beams of radio waves or light almost in the same direction from >=3 different positions. The received signals obtained by receiving the beams reflected by the obstacles by a reception part 18 are processed by a signal processing circuit 24 and a distance arithmetic circuit 28 calculates the distance to the obstacle from the output signal and the sent pulses from the circuit 10. The states of >=3 distance signals obtained by the circuit 28 are used to discriminate the guide rail by a guide rail decision circuit 30 distinctively from the obstacles. Decision signals from this circuit 30 except the guide rail are received and a control circuit 40 controls the obstacle detection.</p> |
