Robot navigational sensor system
First Claim
1. A proximity sensor system for an autonomous robot, the proximity sensor system comprising:
- a sensor arranged to respond to presence of objects beyond a perimeter of the autonomous robot as the autonomous robot moves over a floor surface, the sensor comprising a receiver and emitters; and
a controller configured to sequentially enable and disable the emitters,wherein the receiver is disposed at a different height than the emitters, and wherein the receiver and the emitters are oriented with different axis orientations with respect to the floor surface, such that a field of view of the receiver intersects with emission beams of the emitters to define a bounded detection volume disposed within a distance of 2 to 55 mm from a periphery of the autonomous robot.
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Accused Products
Abstract
An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.
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Citations
20 Claims
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1. A proximity sensor system for an autonomous robot, the proximity sensor system comprising:
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a sensor arranged to respond to presence of objects beyond a perimeter of the autonomous robot as the autonomous robot moves over a floor surface, the sensor comprising a receiver and emitters; and a controller configured to sequentially enable and disable the emitters, wherein the receiver is disposed at a different height than the emitters, and wherein the receiver and the emitters are oriented with different axis orientations with respect to the floor surface, such that a field of view of the receiver intersects with emission beams of the emitters to define a bounded detection volume disposed within a distance of 2 to 55 mm from a periphery of the autonomous robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A proximity sensor system for an autonomous robot, the proximity sensor system comprising:
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a sensor arranged to respond to presence of objects beyond a perimeter of the autonomous robot as the autonomous robot moves over a floor surface, the sensor comprising; a sensor body, at least a first emitter and a second emitter, and a receiver, in which the at least first and second emitters and the receiver are housed by the sensor body, the sensor is configured to emit emission beams in an upwardly angled direction with respect to the floor surface, and the emission beams are generated from light emitted by the first emitter and the second emitter, wherein the receiver is disposed at a different height than the first and second emitters, and the receiver and the first and second emitters are oriented with different axis orientations with respect to the floor surface, such that a field of view of the receiver intersects with a first emission beam of the first emitter and a second emission beam of the second emitter to define a bounded detection volume disposed within a distance of 2 mm to 55 mm from a periphery of the autonomous robot.
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18. A method of detecting presence of objects beyond a perimeter of an autonomous robot as the autonomous robot moves over a floor surface, the method comprising:
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providing at least one proximity sensor on the autonomous robot, in which the at least one proximity sensor comprises a receiver and emitters, wherein the receiver is disposed at a height different than a height of the emitters; orienting the receiver and the emitters with different axis orientations with respect to the floor surface, intersecting a field of view of the receiver with emission beams of the emitters, and defining a bounded detection volume disposed within a distance of 2 to 55 mm from a periphery of the autonomous robot; sequentially enabling and disabling the emitters of the at least one proximity sensor; and detecting, based on reflected emissions, a presence of one or more objects beyond the perimeter of the autonomous robot. - View Dependent Claims (19, 20)
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Specification