Obstacle Following Sensor Scheme for a mobile robot
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Abstract
A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.
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Citations
40 Claims
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1-33. -33. (canceled)
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34. A robot comprising:
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a robot housing defining an arcuate forward portion;
a drive system housed by the robot housing and configured to maneuver the robot with respect to a surface;
at least two sensor components housed in the forward portion of the robot housing substantially near a forward edge and spaced from each other, each sensor component aimed downwardly and comprising an optical emitter and a photon detector configured to receive emitter emissions reflected off the surface; and
a circuit in communication with the detector and the drive system for redirecting the robot when the photon detector ceases to detect the surface. - View Dependent Claims (35, 36, 37, 38, 39)
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40. An autonomous coverage robot comprising:
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a chassis;
a drive system mounted on the chassis and configured to maneuver the robot;
first and second edge cleaning heads carried on opposite sides of the chassis and driven about a non-horizontal axis, each edge cleaning head extending beyond a lateral extent of the chassis to engage a floor surface while the robot is maneuvered across the floor.
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Specification