Distributed proximity sensor system having embedded light emitters and detectors
First Claim
1. A distributed sensor system for robotics comprised of multiple proximity sensors embedded on the surface of a robotic moving member, each proximity sensor comprising a defined pattern of interspersed light emitters and receivers, each receiver having an aperture with a lens focusing light onto an array of photosensitive devices, and each light emitter comprising a light emitting diode and an optical guide to form a light beam with its axis tilted slightly toward the center of an adjacent receiver that is either closer or further from the center of said defined pattern, and with a dispersion angle sufficient to span said aperture of one of said light receivers toward which it is tilted.
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Accused Products
Abstract
A distributed proximity sensor system is provided with multiple photosensitive devices and light emitters embedded on the surface of a robot hand or other moving member in a geometric pattern. By distributing sensors and emitters capable of detecting distances and angles to points on the surface of an object from known points in the geometric pattern, information is obtained for achieving noncontacting shape and distance perception, i.e., for automatic determination of the object'"'"'s shape, direction and distance, as well as the orientation of the object relative to the robot hand or other moving member.
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Citations
8 Claims
- 1. A distributed sensor system for robotics comprised of multiple proximity sensors embedded on the surface of a robotic moving member, each proximity sensor comprising a defined pattern of interspersed light emitters and receivers, each receiver having an aperture with a lens focusing light onto an array of photosensitive devices, and each light emitter comprising a light emitting diode and an optical guide to form a light beam with its axis tilted slightly toward the center of an adjacent receiver that is either closer or further from the center of said defined pattern, and with a dispersion angle sufficient to span said aperture of one of said light receivers toward which it is tilted.
Specification