AUTONOMOUS COVERAGE ROBOT SENSING
First Claim
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1. A robot stasis detection system comprising:
- a body configured to move over a surface;
a stasis sensor carried by the body, the stasis sensor comprising;
an optical emitter configured to emit a directed beam,a photon detector operable to detect the directed beam, andan object positioned between the directed beam and the photon detector to substantially block optical communication between the optical emitter and the photon detector, the object movable in response to a motion sequence of the body to substantially allow optical communication between the optical emitter and the photon detector;
a controller in electrical communication with the stasis sensor and configured determine a stasis condition based at least in part on a level of optical communication between the optical emitter and the photon detector.
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Abstract
An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.
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Citations
19 Claims
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1. A robot stasis detection system comprising:
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a body configured to move over a surface; a stasis sensor carried by the body, the stasis sensor comprising; an optical emitter configured to emit a directed beam, a photon detector operable to detect the directed beam, and an object positioned between the directed beam and the photon detector to substantially block optical communication between the optical emitter and the photon detector, the object movable in response to a motion sequence of the body to substantially allow optical communication between the optical emitter and the photon detector; a controller in electrical communication with the stasis sensor and configured determine a stasis condition based at least in part on a level of optical communication between the optical emitter and the photon detector. - View Dependent Claims (2, 3, 4)
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5. A method of detecting stasis of an autonomous robot, the method comprising:
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emitting a directed beam from an optical emitter carried on the robot; controlling a drive system of the robot to provide a motion sequence of the robot; detecting the directed beam at a photon detector carried on the robot as an object carried on the robot moves in response to the motion sequence of the robot; and determining a stasis condition of the robot based at least in part on a level of optical communication between the optical emitter and the photon detector. - View Dependent Claims (6, 7, 8)
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9. A method of detecting stasis of an autonomous robot, the method comprising:
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maneuvering a robot over a surface; from an optical emitter carried on the robot, emitting a directed beam from the optical emitter; at a photon detector carried on the robot, detecting a reflection of the directed beam from the surface; determining a stasis condition of the robot based at least in part on variations in strength of the reflection detected by the photon detector. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A robot wall detection system comprising:
a body configured to move over a surface; a sensor carried by the body for detecting the presence of a wall, the sensor comprising; an emitter configured to emit a directed beam having a defined field of emission toward a wall in a substantially forward direction of the robot, and a detector having a defined field of view extending toward the wall in a substantially forward direction of the body, the defined field of view near-parallel to the defined field of emission and intersecting the defined field of emission at a finite region substantially forward of the sensor; and a circuit in communication with the detector for controlling the distance between the and the wall. - View Dependent Claims (16, 17, 18, 19)
Specification