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Proximity sensing on mobile robots

  • US 10,429,851 B2
  • Filed: 08/23/2016
  • Issued: 10/01/2019
  • Est. Priority Date: 09/21/2012
  • Status: Active Grant
First Claim
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1. An autonomous robot comprising:

  • a drive system supporting a robot body and configured to maneuver the robot over a first floor surface; and

    a sensor system disposed on the robot body, the sensor system including at least one proximity sensor comprising;

    a first emitter for emitting a first optical signal from the autonomous robot toward the first floor surface;

    a first detector for detecting the first optical signal; and

    a housing for the first emitter and the first detector comprising;

    a first baffle defining a field of view of the first emitter, the first baffle directing the first optical signal transmitted from the emitter to the first floor surface; and

    a second baffle defining a field of view of the first detector, the second baffle directing the first optical signal, the first optical signal being reflected from the first floor surface to the first detector at a first angle, wherein one of the first baffle or the second baffle is a double baffle including an upper pinch point and a lower pinch point, the upper pinch point defining an upper aperture in the housing and the lower pinch point defining a lower aperture in the housing further from the first emitter or the first detector, respectively, than the upper aperture.

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