Method and apparatus for directing energy based range detection sensors

Abstract

A directing apparatus having a mechanism for producing steerable energy and a scanning mechanism for scanning the energy.

1 . A directing apparatus comprising:
 a mechanism for producing steerable energy; and   a mechanism for scanning steerable energy from the producing mechanism, said scanning mechanism in communication with the producing mechanism and performing a line scan at a given adjustable angle.   
   
   
       2 . A directing apparatus as described in  claim 1  wherein the mechanism for producing steerable energy includes a mechanism for producing electromagnetic radiation. 
   
   
       3 . A directing apparatus as described in  claim 2  wherein the scanning mechanism includes a guide mechanism which guides the radiation. 
   
   
       4 . A directing apparatus as described in  claim 3  wherein the scanning mechanism includes a yoke assembly which holds the guide mechanism. 
   
   
       5 . A directing apparatus as described in  claim 4  wherein the scanning mechanism includes a spindle assembly upon which the yoke assembly is mounted and which rotates in a first direction. 
   
   
       6 . A directing apparatus as described in  claim 5  wherein the scanning mechanism includes a controller which regulates the spindle assembly. 
   
   
       7 . A directing apparatus as described in  claim 6  wherein the scanning mechanism includes an encoder mechanism which measures the angular position of the spindle assembly. 
   
   
       8 . A directing apparatus as described in  claim 7  wherein the scanning mechanism includes a cam mechanism connected to the guide mechanism and the spindle mechanism which moves the guide mechanism in a second direction perpendicular to the first direction. 
   
   
       9 . A directing apparatus as described in  claim 8  wherein the electromagnetic producing mechanism includes a mechanism for producing laser energy. 
   
   
       10 . A directing apparatus as described in  claim 9  wherein the guide mechanism includes a mirror assembly, wherein the yoke assembly includes a yoke having a top and a bottom and an optical bore for laser energy to travel through the yoke, said optical bore in alignment with the mirror assembly, said mirror assembly includes an axle which connects the mirror assembly and which is housed at the top of the yoke, and wherein the laser energy producing mechanism is disposed at the bottom of the yoke and in alignment with the optical bore so laser energy from the laser energy producing mechanism can transmit along the optical bore and be reflected by the mirror assembly. 
   
   
       11 . A directing apparatus as described in  claim 10  wherein the scanning mechanism includes a speed differential ring mechanism bearinged coaxially with the yoke and which rotates, said cam mechanism moves along the speed differential ring mechanism which causes the mirror assembly to rotate in the second direction as a function of the relative difference in rotational speed between the speed differential ring mechanism and the spindle assembly. 
   
   
       12 . A directing apparatus as described in  claim 11  wherein the speed differential ring mechanism has a vertical surface having a shape of a triangular wave pattern. 
   
   
       13 . A directing apparatus as described in  claim 12  wherein the cam mechanism is comprised of a cam follower wheel which moves along and tracks the vertical surface of the speed differential ring mechanism, a toothed rack which is attached to the cam follower wheel, and a linear bearing which houses the toothed rack; and wherein the guide mechanism includes a spur gear mounted coaxially on each end of the axle, said spur gear meshes with the toothed rack which actuates the axle to move the mirror assembly in the second direction as a function also of the gear tooth ratio between the toothed rack and the spur gear. 
   
   
       14 . A directing apparatus as described in  claim 13  wherein the cam mechanism comprises a spring mechanism disposed between and connected with the cam wheel follower and the toothed rack which preloads the mirror assembly to reduce backlash of and maintain the mirror assembly in a stable configuration during rotation. 
   
   
       15 . A directing apparatus as described in  claim 14  wherein the mirror assembly has a weight distribution which is loaded to tip it backwards to keep the cam wheel follower on the speed differential ring mechanism as the mirror assembly rotates by centrifugal force which is a function of the rotational speed of the mirror assembly. 
   
   
       16 . A directing apparatus as described in  claim 15  wherein the scanning mechanism includes a sensor mechanism which receives the laser energy back from the surrounding and determines how the surrounding looks from the energy. 
   
   
       17 . A directing apparatus as described in  claim 3  wherein the guide mechanism has a nod rate which is adjustable. 
   
   
       18 . A directing apparatus comprising:
 a mechanism for producing steerable energy; and   a mechanism for scanning steerable energy from the producing mechanism while the producing mechanism is stationary, said scanning mechanism in communication with the producing mechanism and rotatable 360 degrees without any obstructions from the apparatus itself to the steerable energy that is used to scan the surrounding.   
   
   
       19 . A directing apparatus comprising:
 a mechanism for producing steerable energy; and   a mechanism for scanning steerable energy from the producing mechanism, said scanning mechanism in communication with the producing mechanism and having an adjustable nod angle between a first predetermined angle and a second predetermined angle.   
   
   
       20 . A directing method comprising the steps of:
 producing steerable energy; and   performing a line scan at a given adjustable angle.