Edge detection system

• US 10,254,403 B1
• Filed: 11/13/2015
• Issued: 04/09/2019
• Est. Priority Date: 11/24/2014
• Status: Active Grant

• Current Assignee: Bobsweep, Inc.
• Original Assignee: Ai Incorprated
• Inventors: Ebrahimi Afrouzi, Ali, Mehrnia, Soroush, Ebrahimi Afrouzi, Masih
• Primary Examiner(s): Noori, Max H
• Application Number:
  US14/941,385
• Time in Patent Office: 1,243 Days
• Field of Search: 73627
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A method for automated mobile devices to identify and avoid dangerous edges or drop-offs. Rangefinder sensors are installed on the underside of devices to calculate distances to the work surfaces. Distances are monitored for changes greater than a predetermined threshold. Distance changes greater than the threshold cause the device to execute methods or algorithms for avoiding the identified area.

Claims

1. An autonomous cleaning apparatus, comprising:

a chassis;

a drive system installed in the chassis operable to enable movement of the cleaning apparatus, the drive system comprising a set of wheels;

a control system in communication with the drive system including a processor operable to control the drive system to provide at least one movement pattern of the cleaning apparatus;

a cleaning assembly including a rotatable brush and an intake area;

an impeller to provide suction to collect debris;

a debris holding container;

a battery to provide power to the system; and

one or more downward-oriented rangefinder sensors positioned on the underside of said chassis and electrically coupled with the processor to calculate distances from the sensor to the work surface, wherein

the distances calculated by each of the one or more rangefinder sensors are monitored by the processor, wherein

changes in distance larger than a predetermined amount causes the control system to execute one or more predetermined movement patterns to avoid an area associated with the change in distance.

2. The autonomous cleaning apparatus of claim 1 wherein rangefinder sensors utilize any of:

ultrasonic waves, laser beams, and infrared beams to calculate distances.

3. The autonomous cleaning apparatus of claim 1 in which said rangefinder sensors are positioned substantially along all or a portion of the periphery of the underside of the autonomous cleaning apparatus.