Compliant Solid-State Bumper for Robot

• US 20130241217A1
• Filed: 03/14/2013
• Published: 09/19/2013
• Est. Priority Date: 03/15/2012
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Won, Chikyung, Hickey, Stephen A., Pastore, Andrew, Gamble, Roger Dale
• Granted Patent: US 8,950,792 B2
• Time in Patent Office: Days
• US Class Current: 293/117
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B60R 19/483 with obstacle sensors of electric or electronic type
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A robot bumper assembly includes a bumper body, a first sensor array, and a second sensor array. The first sensor array is disposed along and contoured to the periphery of a forward facing portion of the bumper body and senses contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body. The second sensor array is disposed along and contoured to the periphery of a top portion of the forward facing portion of the robot body. The top portion is angled, ramping up. The second sensor array senses contact with an external environment at positions along the periphery of the angled top portion of the bumper body.

Claims

1. A robot bumper assembly comprising:

a bumper body;

a first sensor array disposed along and contoured to the periphery of a forward facing portion of the bumper body, the first sensor array sensing contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body; and

a second sensor array disposed along and contoured to the periphery of a top portion of the forward facing portion of the bumper body, the top portion being angled ramping up and the second sensor array sensing contact with an external environment at positions along the periphery of the angled top portion of the bumper body.

2. The robot bumper assembly of claim 1, wherein the first sensor array extends vertically along a height of the forward facing portion of the bumper body.

3. The robot bumper assembly of claim 1, further comprising a third sensor array disposed along and contoured to the periphery of a forward facing portion of the bumper body, the third sensor array sensing contact with an external environment at positions along the contour of the periphery of the forward facing portion of the bumper body and being spaced vertically apart from the first sensor array along the forward facing portion of the bumper body.

4. The robot bumper assembly of claim 1, wherein the first and second sensor arrays are pressure sensitive.

5. The robot bumper assembly of claim 1, wherein the second sensor array extends vertically along a height of the angled top portion of the bumper body.

6. The robot bumper assembly of claim 1, wherein the angled top portion is curved.

7. The robot bumper assembly of claim 1, further comprising a fourth sensor array disposed adjacent the second sensor array along the periphery of the angled top portion of the forward facing portion of the bumper body, the fourth sensor array being contoured to the surface of the angled top portion and sensing contact with an external environment at positions along the periphery of the angled top portion of the bumper body.

8. The robot bumper assembly of claim 1, wherein the bumper body defines a substantially circular periphery or an at least partially square periphery.

9. The robot bumper assembly of claim 1, further comprising a non-contact sensor array disposed on the forward facing portion of the bumper body and vertically spaced between the first sensor array and second sensor array.

10. The robot of claim 1, wherein the first and second sensors arrays are membrane switches comprising first and second conductive layers separated by a separator layer.

12. The robot bumper of claim 1, wherein the membrane switch layer comprises a first sheet having a plurality of electrical contact points and a second sheet having a plurality of electrical contact points.

13. The robot bumper of claim 12, wherein the membrane switch layer further comprises a separator layer positioned between the first and second sheets and configured to prevent accidental or incidental contact between the plurality of electrical contact points on the first and second sheets.

14. The robot bumper of claim 13, wherein the separation layer comprises a piezoresistive material.

15. The robot bumper of claim 12, wherein the electrical contact points on the first sheet form a first pattern and the electrical contact points on the second sheet form a second pattern.

16. The robot bumper of claim 15, wherein the first pattern and the second pattern are identical.

17. The robot bumper of claim 12, wherein the plurality of electrical contact points on each sheet form a plurality of zones, each zone corresponding to an impact point on an external surface of the bumper.

18. The robot bumper of claim 17, wherein each electrical contact point forms an individual zone.

11. A robot bumper comprising:

a force, absorbing layer;

a membrane switch layer comprising a plurality of electrical contacts; and

a force transmission layer disposed between the force absorbing layer and the membrane switch layer, the force transmission layer comprising a plurality of force transmitting elements configured to transmit force to the membrane switch layer.

19. The robot bumper of claim 11, wherein the layers conform to a shape of a robot chassis.