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
38 Claims
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1-33. -33. (canceled)
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34. A robot comprising:
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a substantially circular robot housing;
a drive system housed by the robot housing and configured to maneuver the robot with respect to a wall;
at least one sensor component housed in a forward portion of the robot housing and aimed at the wall for detecting the presence of the wall, the sensor component comprising;
an emitter that emits a directed beam having a defined field of emission; and
a detector having a defined field of view that intersects the field of emission of the emitter, the intersection of the field of emission and the field of view defining a volume of intersection space forward of the robot housing; and
a circuit in communication with the detector and the drive system for redirecting the robot when the wall occupies the intersection space. - View Dependent Claims (35, 36, 37, 38)
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Specification