Scanning range finder

• US 10,845,481 B2
• Filed: 06/19/2018
• Issued: 11/24/2020
• Est. Priority Date: 11/01/2013
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Pierce, Travis, Milliken, Jamie, Wilga, Marc
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US16/012,097
• Publication Number:
  US 20180299550A1
• Time in Patent Office: 889 Days
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

Claims

1. A mobile robot comprising:

an optical emitter circuit;

a non-imaging optical element arranged to receive distinct optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit and to direct the optical signals to an output aperture thereof, wherein the non-imaging optical element comprises a compound parabolic collector element;

an optical detector circuit configured to receive the optical signals from the output aperture of the non-imaging optical element and to generate respective detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit;

a ranging circuit coupled to the optical detector circuit and configured to calculate a plurality of distances from the phase differences indicated by the detection signals, and to identify one of the plurality of distances as a range of a target; and

a rotatable turret comprising collection optics that are arranged to direct the optical signals to the compound parabolic collector element responsive to rotation of the turret,

wherein the optical emitter circuit is configured to sequentially switch the outputs of the optical emitter circuit between different frequencies during the rotation of the turret.

2. The mobile robot of claim 1, wherein the compound parabolic collector element comprises:

a parabolic surface defining the entrance aperture and the output aperture at opposing ends thereof; and

a flange extending around a periphery of the parabolic surface adjacent the entrance aperture thereof, the flange having a greater diameter than the entrance aperture and defining a lip protruding from the parabolic surface.

3. The mobile robot of claim 1, wherein the optical emitter circuit is configured to dynamically alter power levels of the outputs thereof during the rotation of the turret.

4. The mobile robot of claim 1, wherein the ranging circuit is configured to determine a time delay between transmission of one of the outputs from the optical emitter circuit and arrival of a corresponding one of the optical signals at the optical detector circuit, and to identify the one of the plurality of distances as the range of the target based on the time delay.

5. The mobile robot of claim 4, wherein the outputs from the optical emitter circuit respectively comprise a plurality of gated bursts, and wherein the ranging circuit is configured to determine a time of the arrival of the one of the optical signals based on a signal strength of a burst thereof exceeding a threshold.

6. The mobile robot of claim 5, wherein the ranging circuit is configured to extrapolate a rising edge of the burst of the one of the optical signals from the signal strength thereof to determine the time of the arrival.

7. The mobile robot of claim 6, wherein:

the optical detector circuit is configured to calculate a received signal strength indicator (RSSI) signal indicating the signal strength and to sample a received signal strength indicator (RSSI) noise floor to define the threshold; and

the ranging circuit is configured to extrapolate a time of the rising edge of the burst based on a rise time of the RSSI signal relative to the RSSI noise floor.

8. The mobile robot of claim 1, wherein the optical emitter circuit comprises a programmable frequency clock coupled to an optical emitter, and wherein the optical emitter circuit is configured to vary a frequency of the clock when the optical emitter is pointed at a fixed distance calibration target to output a plurality of calibration signals therefrom at respective frequencies, and is configured to dynamically adjust the clock to one of the respective frequencies corresponding to one of the calibration signals having a highest received signal strength indicated by the optical detector circuit.

9. The mobile robot of claim 8, wherein the respective frequencies comprise a current frequency of the clock, a frequency greater than the current frequency, and a frequency less than the current frequency, and wherein the optical emitter circuit is configured to set the frequency of the clock during operation of the mobile robot.

10. The mobile robot of claim 1, wherein the mobile robot is a robotic lawnmower comprising a drive to move the robotic lawnmower about a surface, wherein the target is positioned on the surface.

11. A mobile robot comprising:

an optical emitter circuit;

a non-imaging optical element arranged to receive distinct optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit and to direct the optical signals to an output aperture thereof;

an optical detector circuit configured to receive the optical signals from the output aperture of the non-imaging optical element and to generate respective detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit; and

a ranging circuit coupled to the optical detector circuit and configured to calculate a plurality of distances from the phase differences indicated by the detection signals, and to identify one of the plurality of distances as a range of a target, wherein the distinct optical signals have different frequencies and the ranging circuit is configured to calculate the range of the target based on a comparison of the plurality of distances indicated by the respective detection signals.

12. The mobile robot of claim 11, wherein:

the optical detector circuit comprises an averaging detector configured to output the respective detection signals representing average voltages based on the respective phase differences; and

the ranging circuit is configured to calculate, for the respective detection signals, the plurality of distances from the average voltages thereof, and to identify the one of the plurality of distances as the range of the target based on a least common multiple thereof.

13. The mobile robot of claim 12, wherein the averaging detector is configured to output the respective detection signals representing the average voltages responsive to input signals thereto that are forced to a predetermined state.

14. The mobile robot of claim 11, wherein the optical emitter circuit is configured to provide a phase shift between the respective outputs thereof.

15. The mobile robot of claim 11, wherein the non-imaging optical element comprises a compound parabolic collector element, and further comprising:

a rotatable turret comprising collection optics that are arranged to direct the optical signals to the compound parabolic collector element responsive to rotation of the turret.

16. The mobile robot of claim 15, wherein the compound parabolic collector element comprises:

a parabolic surface defining the entrance aperture and the output aperture at opposing ends thereof; and

a flange extending around a periphery of the parabolic surface adjacent the entrance aperture thereof, the flange having a greater diameter than the entrance aperture and defining a lip protruding from the parabolic surface.

17. The mobile robot of claim 15, wherein the optical emitter circuit is configured to sequentially switch the outputs thereof between different frequencies during the rotation of the turret.

18. The mobile robot of claim 15, wherein the optical emitter circuit is configured to dynamically alter power levels of the outputs thereof during the rotation of the turret.

19. The mobile robot of claim 15, wherein the mobile robot is a robotic lawnmower comprising a drive to move the robotic lawnmower about a surface, wherein the target is positioned on the surface.

20. The mobile robot of claim 11, wherein the ranging circuit is configured to determine a time delay between transmission of one of the outputs from the optical emitter circuit and arrival of a corresponding one of the optical signals at the optical detector circuit, and to identify the one of the plurality of distances as the range of the target based on the time delay.