System and method using a multi-plane curtain
A multi-plane scanner support system includes a bracket and a mirror block. The bracket is configured to be secured in a fixed orientation with respect to a scanner. And the mirror block is arranged to receive a scanning signal from the scanner and to reflect the scanning signal into a plurality of directions to create multiple scanning planes. The scanner can be a laser scanner. The scanner and multi-plane scanner support system can be attached to a material transport vehicle, for example, to provide safety functions. The vehicle can be manned or unmanned.
1. A vehicle having a multi-plane scanning system, comprising:
a vehicle;
a bottom laser scanner coupled to a bottom portion of the vehicle and configured to direct a substantially horizontal scanning plane in a forward direction to define a warning zone;
a range scanner coupled to the vehicle; and
a mirror block coupled to a top portion of the vehicle, the mirror block including a plurality of reflective surfaces having a fixed orientation with respect to the range scanner and arranged to receive a scanning signal from the range scanner and to reflect the scanning signal into a plurality of downwardly projecting scanning planes, including a front downwardly projection scanning plane, a right side downwardly projecting scanning plane, and a left side downwardly projecting plane, that intersect the warning zone to define a safety zone that includes a portion of the warning zone,
wherein the vehicle is configured to have a first response to object detection in the warning zone and a second response to object detection in the safety zone.
2. The vehicle of claim 1 , further comprising:
a bracket configured to secure the mirror block in the fixed orientation with respect to the range scanner.
3. The vehicle of claim 1 , wherein the range scanner is a laser range scanner.
4. The vehicle of claim 1 , wherein the mirror block includes a plurality of flat surfaces, each flat surface arranged to reflect the scanning signal to form a different one of the downwardly projecting scanning planes.
5. The vehicle of claim 1 , wherein the mirror block is contoured to form a bent light curtain comprising the downwardly projecting scanning planes.
6. The vehicle of claim 1 , wherein the range scanner is coupled to the top portion of the vehicle between a plurality of reflective surfaces of the at least one mirror block.
7. The vehicle of claim 1 , further comprising:
a drive mechanism configured to control movement of the vehicle; and
a controller configured to control the drive mechanism, including:
in response to detection of a body in the warning zone by the bottom laser scanner, the controller is configured to cause the drive mechanism to slow operation of the vehicle as the first response; and
in response to detection of a body in the safety zone by the range scanner, the controller causes the drive mechanism to halt movement and/or operation of the vehicle as the second response.
8. The vehicle of claim 1 , wherein the range scanner outputs a scanning beam at about 34 degrees above horizontal and is disposed between the plurality of reflective surfaces of the mirror block.
9. The vehicle of claim 1 , wherein the vehicle is an automated guided vehicle (AGV).
10. The vehicle of claim 1 , wherein the mirror block and range scanner are mounted to a mast that maintains the mirror black and range scanner at an acute angle with respect to a horizontal ground surface.
11. A method of vehicle based scanning in a direction of travel, the method comprising:
providing a vehicle having a multi-place scanning system, the multi-plane scanning system including:
a bottom laser scanner coupled to a bottom portion of the vehicle;
a range scanner coupled to the vehicle; and
a mirror block coupled to a top portion of the vehicle, the mirror block including a plurality of reflective surfaces having a fixed orientation with respect to the range scanner;
directing a substantially horizontal scanning plane in a forward direction from the bottom laser scanner;
the mirror block receiving a scanning signal from the range scanner and reflecting the scanning signal into a plurality of downwardly projecting scanning planes, including a front downwardly projection scanning plane, a right side downwardly projecting scanning plane, and a left side downwardly projecting plane, that intersect the warning zone to define a safety zone that includes a portion of the warning zone, and
the vehicle having a first response to object detection in the warning zone and a second response to object detection in the safety zone.
12. The method of claim 11 , wherein the mirror block includes a plurality of flat surfaces and the method includes each flat surface reflecting the scanning signal to form a different one of the downwardly projecting scanning planes.
13. The method of claim 11 , wherein the mirror block is contoured and the method includes the mirror block forming a bent light curtain comprising the downwardly projecting scanning planes.
14. The method of claim 11 , wherein the range scanner is disposed between the plurality of reflective surfaces of the mirror block, and the method includes the range scanner outputting a scanning beam at about 34 degrees above horizontal.
15. The method of claim 11 , wherein the vehicle is an automated guided vehicle (AGV).
16. A vehicle having a multi-plane scanning system, comprising:
a vehicle;
a drive mechanism configured to control movement of the vehicle;
a bottom laser scanner coupled to a bottom portion of the vehicle and configured to direct a substantially horizontal scanning plane in a forward direction to define a warning zone;
a range scanner configured to output and receive a scanning signal;
a mirror block coupled to a top portion of the vehicle, the mirror block including a plurality of fixed reflective surfaces that at least partially surround the range scanner to receive and reflect the scanning signal from the range scanner into a plurality of downwardly projecting scanning planes that intersect the warning zone to define a safety zone that includes a portion of the warning zone; and
a controller configured to control the drive mechanism, including:
in response to detection of a body in the warning zone by the bottom laser scanner, the controller is configured to signal the drive mechanism to slow operation of the vehicle; and
in response to detection of a body in the safety zone by the range scanner, the controller is configured to signal the drive mechanism to halt movement and/or operation of the vehicle.
17. The vehicle of claim 16 , wherein the range scanner is a laser range scanner.
18. The vehicle of claim 16 , wherein the range scanner outputs a scanning beam at about 34 degrees above horizontal and is disposed between the plurality of reflective surfaces of the mirror block.
19. The vehicle of claim 16 , wherein the vehicle is an automated guided vehicle (AGV).
20. The vehicle of claim 16 , wherein the mirror block and range scanner are mounted to a mast that maintains the mirror black and range scanner at an acute angle with respect to a horizontal ground surface.