Proximity sensing on mobile robots
First Claim
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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Accused Products
Abstract
A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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Citations
22 Claims
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1. An autonomous robot comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An autonomous mobile robot comprising:
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a drive system supporting a robot body and configured to maneuver the robot over a floor surface; a vacuum assembly configured to remove debris from the floor surface; and a sensor system disposed on the robot body, the sensor system including at least one proximity sensor positioned on a bottom surface of the robot for determining a distance from the robot to a floor surface, the at least one proximity sensor comprising; an emitter configured to emit a light beam from the robot towards the floor surface; a first receiver positioned at a first location configured to receive a first portion of the emitted light beam reflected from a first portion of the floor surface corresponding to a first range of distances between the floor surface and the proximity sensor; and a second receiver positioned at a second location different from the first location configured to receive a second portion of the emitted light beam reflected from a second portion of the floor surface corresponding to a second range of distances larger than the first range of distances between the floor surface and the proximity sensor; and a controller configured to issue a stop command, a reverse command, or a turn away command to the drive system in response to light above a first threshold received at the second receiver, and light below a second threshold received at the first receiver. - View Dependent Claims (16, 17, 18)
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19. An autonomous mobile robot comprising:
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a drive system supporting a robot body and configured to maneuver the robot over a floor surface; a vacuum assembly configured to remove debris from the floor surface; and a sensor system disposed on the robot body, the sensor system including at least one proximity sensor positioned on a bottom surface of the robot for determining a distance from the robot to a floor surface, the at least one proximity sensor comprising; an emitter configured to emit a light beam from the robot towards the floor surface; a first receiver positioned at a first location configured to receive a first portion of the emitted light beam reflected from a first portion of the floor surface corresponding to a first range of distances between the floor surface and the proximity sensor; and a second receiver positioned at a second location different from the first location configured to receive a second portion of the emitted light beam reflected from a second portion of the floor surface corresponding to a second range of distances larger than the first range of distances between the floor surface and the proximity sensor; and a controller configured to issue a stop command in response to light below a first threshold received at the second receiver, and light above a second threshold received at the first receiver. - View Dependent Claims (20, 21, 22)
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Specification