叙述了用于像铲运机、汽车等在地下矿巷道内以大约15km／h的速度行驶自行车辆的障碍物探测装置。所推荐的是采用结构光测距仪（Structured－lightrangefinder）的障碍物探测系统，其工作原理是对障碍物相关特征图像的直接分辨，而不是对场景实况几何形状的三维重建。该系统利用图像轮廓的瞬时变化以探测出是否有障碍物。 Describes an obstacle detection device for driving a bicycle at a speed of about 15 km / h in an underground mine roadway such as a scraper or an automobile. What is recommended is an obstacle detection system using Structured-lightrangefinder, which works on the principle of direct resolution of the image of the obstacle-related features rather than a three-dimensional reconstruction of the live geometry of the scene. The system takes advantage of the instantaneous changes in the contour of the image to detect if there is an obstacle.