Proximity Sensing On Mobile Robots
First Claim
1. A proximity sensor comprising:
- a sensor body;
a first emitter housed by the sensor body;
a second emitter housed by the sensor body adjacent to the first emitter; and
a receiver disposed adjacent the first emitter opposite the second emitter;
wherein the first emitter has a first field of view, the second emitter has a second field of view, and the receiver has a third field of view; and
wherein an intersection of the first and third field of views defines a first volume and an intersection of the second and third fields of view defines a second volume, the first volume detecting a first surface within a first threshold distance from a sensing reference point and the second volume detecting a second surface within a second threshold distance from the sensing reference point, the second threshold distance being greater than the first threshold distance.
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Accused Products
Abstract
A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
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Citations
20 Claims
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1. A proximity sensor comprising:
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a sensor body; a first emitter housed by the sensor body; a second emitter housed by the sensor body adjacent to the first emitter; and a receiver disposed adjacent the first emitter opposite the second emitter; wherein the first emitter has a first field of view, the second emitter has a second field of view, and the receiver has a third field of view; and wherein an intersection of the first and third field of views defines a first volume and an intersection of the second and third fields of view defines a second volume, the first volume detecting a first surface within a first threshold distance from a sensing reference point and the second volume detecting a second surface within a second threshold distance from the sensing reference point, the second threshold distance being greater than the first threshold distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of sensing a proximity of an object, the method comprising:
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receiving, at a computing processor, data from a first sensor comprising a first emitter and a first receiver; receiving, at the computing processor, data from a second sensor comprising a second emitter and a second receiver, the first emitter and the second emitter being the same emitter or the first receiver and the second receiver being the same receiver; determining, using the computing processor, based on the received data, a target distance between a sensing reference point and a sensed object; determining, using the computing processor, if the target distance is within a first threshold distance or a second threshold distance; and issuing a command, from the computing processor, based on whether the target distance is within the first threshold distance or the second threshold distance. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification