Sonar system for remote vehicle
First Claim
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1. A SONAR system for use with a remote vehicle, the SONAR system comprising:
- at least one SONAR emitter having a waveguide tuned to guide emitted sound from the emitter into an environment of the remote vehicle; and
at least two SONAR receivers, each SONAR receiver having a waveguide tuned to receive reflected sound from an environment of the remote vehicle,wherein each of the waveguides of the emitter and the receivers includes a front wall, a rear wall, a top wall, and a bottom wall, and at least one of the waveguides is tuned by varying a curvature of its front and rear walls and/or its top and bottom walls.
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Abstract
A SONAR system for use with a robotic vacuum having SONAR emitters and receivers thereon. The SONAR system comprises a waveguide or horn located in front of the emitters and receivers that can improve the overall target resolution and reduce the number of “dead zones” where targets are not easily resolved.
46 Citations
16 Claims
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1. A SONAR system for use with a remote vehicle, the SONAR system comprising:
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at least one SONAR emitter having a waveguide tuned to guide emitted sound from the emitter into an environment of the remote vehicle; and at least two SONAR receivers, each SONAR receiver having a waveguide tuned to receive reflected sound from an environment of the remote vehicle, wherein each of the waveguides of the emitter and the receivers includes a front wall, a rear wall, a top wall, and a bottom wall, and at least one of the waveguides is tuned by varying a curvature of its front and rear walls and/or its top and bottom walls. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A SONAR system for use with a remote vehicle, the SONAR system comprising:
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at least two SONAR emitters, each emitter having an emitter waveguide tuned to guide emitted sound from the emitter into an environment of the remote vehicle; and at least two SONAR receivers, each SONAR receiver having a receiver waveguide tuned to receive reflected sound from an environment of the remote vehicle, wherein the emitter waveguides are located and configured aim sound toward a target in the remote vehicle environment, each waveguide comprising a front wall, a rear wall, a top wall, and a bottom wall, at least one of the waveguides tuned by varying a curvature of its front and rear walls and/or its top and bottom walls. - View Dependent Claims (13, 14)
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15. A method for using a remote vehicle SONAR system to navigate a remote vehicle, the SONAR system comprising a first side-mounted emitter, a second side-mounted emitter, a central emitter, a first receiver located between the first side-mounted emitter and the central emitter, and a second receiver located between the second side-mounted emitter and the central emitter, the method comprising detecting obstacles by:
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emitting a signal from the first side-mounted emitter; listening for a reflection of the signal from the first side-mounted emitter with the first receiver; firing the central emitter; listening for a reflection of the signal from the central emitter with the first receiver and the second receiver; firing the second side-mounted emitter; and listening for a reflection of the signal from the second side-mounted emitter with the second receiver; wherein each of the first side-mounted emitter, the second side-mounted emitter, and the central emitter have a waveguide tuned to guide emitted signals from their respective emitter into the environment of the remote vehicle, each of the first and second receivers having a waveguide tuned to receive reflected signals from the environment of the remote vehicle, and each waveguide comprising a front wall, a rear wall, a top wall, and a bottom wall, at least one of the waveguides tuned by varying a curvature of its front and rear walls and/or its top and bottom walls. - View Dependent Claims (16)
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Specification