System and device for a self orienting device

• US 5,935,179 A
• Filed: 12/29/1997
• Issued: 08/10/1999
• Est. Priority Date: 04/30/1996
• Status: Expired due to Term

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Kleiner, Mendel, Riise, Bjorn
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/998,705
• Time in Patent Office: 589 Days
• Field of Search: 701/23, 701/24, 701/26, 701/41, 701/300, 701/301, 340/943, 342/154, 342/126, 342/127, 342/140
• US Class Current: 701/23
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483
• CPC Class Codes: G01S 7/521 Constructional features
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

The present invention discloses a proximity sensing system and an autonomous device, like a vacuum-cleaner, being provided with a pair of independent driven wheels (17, 18). The device contains for the proximity orientation and guiding a microprocessor system and a sonar system which includes at least an ultrasonic transmitter and an ultrasonic receiver. An additional mechanical touch sensor is also used in the form of a forward directed bumper (16) carrying the transmitter as well as receiving microphone units. The mechanical bumper actuates at least one touch sensor if the device makes contact with an obstacle in the course of the moving device. The transmitter is a stripe-shaped ultrasound transducer (10) which is positioned at the front of the device and transmits ultrasonic waves with a narrow vertical distribution within a wide sector in front of the device. The receiver includes a number of microphone units (12) provided with hollow pipes (12a, 12b) for the sound. The microphone units (12) together with the transmitter form an efficient sonar system for detecting echoes reflected from objects in the forward course of the moving device.

Claims

1. A proximity sensing system for an autonomous device being provided with motor driven wheels for carrying out a specific cleaning function, said device comprising members for the orientation and guiding of the device by means of a microprocessor system forming a proximity sensing system which comprises at least one transmitting member and one receiving member and a mechanical sensing member in form of a forward directed bumper, characterized in that

said transmitting member is a stripe-shaped ultrasound transducer extending along the front perimeter of the device and transmitting ultrasonic waves with a narrow vertical distribution within a wide sector in front of the device.

2. The system according to claim 1, characterized in that said transmitting member is a semicircular capacitance film-transducer mounted on the perimeter of the device together with said receiving member having at least three ultrasonic microphone units.

3. The system according to claim 2, characterized in that said transmitting member is divided into two portions presenting an upper stripe-shaped ultrasound transducer and a lower stripe-shaped ultrasound transducer having between them the receiving member.

4. The system according to claim 2, characterized in that said transmitting member is countersinked in the front portion of the device to further limit the vertical distribution of transmitted and received signals.

5. The system according to claim 2, characterized in that said transmitting member during each repeated transmission transmits a sequence of closely spaced pulses, the echoes of which will be integrated into one sampled reflection at a specific reflection distance by said receiving system.

6. The system according to claim 2, characterized in that said mechanical sensing member is actuating at least one touch sensor if the device makes contact to an obstacle in the course of the moving device.

7. The system according to claim 1, characterized in that said receiving member comprises a number of microphone units provided with hollow pipes for the sound to further improve the directivity pattern for each microphone unit.

8. The system according to claim 7, characterized in that said hollow pipes of the receiving microphone units are aligned vertically in respect to each other to produce an improved directivity in the vertical plane.

9. The system according to claim 7, characterized in that a further microphone unit is pointed to one side of the device to be used in a wall tracking operation.

10. The system according to claim 1, characterized in that said mechanical sensing member is actuating at least one touch sensor if the device makes contact to an obstacle in the course of the moving device.

20. The device according to claim 10, characterized in that said mechanical sensing member is actuating at least one touch sensor if the device makes contact to an obstacle in the course of the moving device.

11. A device for navigation of an autonomous device being provided with motor driven wheels for carrying out some specific cleaning function, said device comprising members for the proximity orientation and guiding of the device by means of a microprocessor system and a proximity sensing system which comprises at least one transmitting member and one receiving member and a mechanical sensing member in form of a forward directed bumper, characterized in that said transmitting member is a stripe-shaped ultrasound transducer extending along the front of the device and transmitting ultrasonic waves with a narrow vertical distribution within a wide sector in front of the device.

12. The device according to claim 11, characterized in that said transmitting member is a semicircular capacitance film-transducer mounted on the perimeter of the device together with said receiving member having at least three microphone units.

13. The device according to claim 12, characterized in that said transmitting member is divided into two portions presenting an upper stripe-shaped ultrasound transducer and a lower stripe-shaped ultrasound transducer having between them the receiving member.

14. The device according to claim 12, characterized in that said transmitting member is countersinked in the front portion of the device to further limit the vertical distribution of transmitted and received signals.

15. The device according to claim 12, characterized in that said transmitting member during each repeated transmission transmits a sequence of closely spaced pulses, the echoes of which will be integrated into one sampled reflection at a specific reflection distance by said receiving system.

16. The device according to claim 12, characterized in that said mechanical sensing member is actuating at least one touch sensor if the device makes contact to an obstacle in the course of the moving device.

17. The system according to claim 11, characterized in that said receiving member comprises a number of microphone units provided with hollow pipes for the sound to further improve the directivity pattern for each microphone unit.

18. The device according to claim 17, characterized in that said hollow pipes of the receiving microphone units are aligned vertically in respect to each other to produce an improved directivity in the vertical plane.

19. The device according to claim 17, characterized in that a further microphone unit is pointed to one side of the device to be used in a wall tracking operation.