Robot capable of detecting an edge
First Claim
1. A robot capable of detecting an edge, comprising:
- a body;
at least one leg, connected to the body, including a driving mechanism to move the robot; and
an edge detection system including;
at least one infrared emitter;
a signal receiving device to detect a signal emitted by the infrared emitter after the signal has been reflected; and
at least one edge detection element;
wherein the edge detection system is adapted to detect an edge based on feedback received from the signal receiving device; and
wherein the driving mechanism slows down after an edge has been detected in response to the feedback received from the signal receiving device, thereby allowing the edge detection element to confirm that there is an edge.
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0 Petitions
Accused Products
Abstract
A robot which incorporates a body, and sensors that allow the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. A driving mechanism moves the robot along a surface. An edge detection system includes a plurality of infrared emitters each directed at a different angle with respect to the surface. The emitters alternately emitting signals such that only one of the emitters emits a signal at one time. A signal receiving device detects signals emitted by the infrared emitters after the signals have been reflected. The edge detection system detects an edge based on feedback received from the signal receiving device.
34 Citations
40 Claims
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1. A robot capable of detecting an edge, comprising:
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a body;
at least one leg, connected to the body, including a driving mechanism to move the robot; and
an edge detection system including;
at least one infrared emitter;
a signal receiving device to detect a signal emitted by the infrared emitter after the signal has been reflected; and
at least one edge detection element;
wherein the edge detection system is adapted to detect an edge based on feedback received from the signal receiving device; and
wherein the driving mechanism slows down after an edge has been detected in response to the feedback received from the signal receiving device, thereby allowing the edge detection element to confirm that there is an edge. - View Dependent Claims (2, 3, 7)
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- 4. The robot of claim 4, wherein each of the first switch and the second switch comprise a leaf switch.
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8. A robot capable of detecting an edge, comprising:
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a body;
a left leg and a right leg to keep the body elevated;
the right leg including;
a right driving mechanism;
a right center wheel, rotated by the right driving mechanism;
a right front end wheel;
a first edge detection switch that closes in response to the right front end wheel moving at least a predetermined distance downward;
a right rear end wheel; and
a second edge detection switch that closes in response to the right rear end wheel moving at least a predetermined distance downward;
the left leg including;
a left driving mechanism;
a left center wheel, rotated by the left driving mechanism;
a left front end wheel;
a third edge detection switch that closes in response to the left front end wheel moving at least a predetermined distance downward;
a left rear end wheel;
a forth edge detection switch that closes in response to the left rear end wheel moving at least a predetermined distance downward;
wherein the left and right driving mechanisms move the robot in a direction away from a detected edge based on which of the first, second, third and forth switches close. - View Dependent Claims (9, 10, 11, 12, 13)
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14. An edge detection system for preventing a moving robot from traveling off an edge, including:
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a infrared transceiver subsystem for detecting an edge; and
an edge detection element to confirm whether the infrared transceiver subsystem actually detected an edge, and to detect an edge not detected by the infrared transceiver subsystem;
the edge detection element comprising a switch that closes in response to a wheel traveling a predetermined distance downward. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A robot capable of detecting an edge, comprising:
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a driving mechanism to move the robot along a surface; and
an edge detection system including;
a plurality of infrared emitters each directed at a different angle with respect to the surface, the emitters alternately emitting signals such that only one of the emitters emits a signal at one time;
a signal receiving device to detect signals emitted by the infrared emitters after the signals have been reflected; and
wherein the edge detection system is adapted to detect an edge based on feedback received from the signal receiving device. - View Dependent Claims (22, 23, 24)
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25. A robot capable of detecting an edge, comprising:
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a body with a first portion that is adapted to be located proximal to the ground and a second portion that is adapted to be located distal from the ground;
a motor that can move the body;
an edge detection system including;
at least one infrared emitter;
a signal receiving device that can detect a signal emitted from the infrared emitter after the signal has been reflected; and
wherein one of the infrared emitter and the signal receiving device is located more adjacent to the second portion of the body than is the other of the infrared emitter and the signal receiving device. - View Dependent Claims (36)
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26. A robot capable of detecting an edge, comprising:
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a body with a first portion that is adapted to be located proximal to the ground and a second portion that is adapted to be located distal from the ground;
a motor that can move the body;
an edge detection system including;
a plurality of radiation emitters;
a signal receiving device that can detect radiation emitted from the emitters after the signals have been reflected; and
wherein each emitter is directed at a different angle with respect to the ground when the first portion of the body is located proximate to the ground. - View Dependent Claims (27, 28, 29, 30, 37)
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31. A robot capable of detecting an edge, comprising:
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a structure including a lower portion, from which extends at least one wheel, and an upper portion extending above the lower portion;
a motor that can rotate the at least one wheel to thereby move the structure;
an edge detection system located in the upper portion of the structure, the edge detection system including;
a plurality of radiation emitters each emitting radiation at a different angle and a different time with respect to one another; and
a signal receiving device that can detect signals emitted from the emitters after the signals have been reflected. - View Dependent Claims (38)
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32. A robot capable of detecting an irregularity, comprising:
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a body with a first portion which is adapted to be located proximal to the ground and a second portion which is adapted to be located distal from the ground;
a motor that can move the body;
an irregularity detection system including;
at least one radiation emitter;
a signal receiving device that can detect a signal emitted from the one radiation emitter after the signal has been reflected off an irregularity; and
wherein one of the radiation emitter and the signal receiving device is located more adjacent to the second portion of the body than is the other of the radiation emitter and the signal receiving device. - View Dependent Claims (33, 39)
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34. A robot capable of detecting an edge, comprising:
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a motor that can move the robot;
an edge detection system, including;
a left plurality of radiation emitters each directed at a different angle with respect to one another; and
a right plurality of radiation emitters each directed at a different angle with respect to one another;
a signal receiving device that can detect a signals emitted from the emitters after the signals have been reflected;
wherein only one of the emitters, in both the first and second plurality of emitters, emits a signal at a time to allow the signal receiving device to know which emitter sent a signal whose reflection is detected. - View Dependent Claims (35, 40)
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Specification