Sonar scanner

  • US 7,688,676 B2
  • Filed: 05/05/2008
  • Issued: 03/30/2010
  • Est. Priority Date: 08/03/2000
  • Status: Active Grant
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First Claim
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1. A method of controlling a mobile robot, the method comprising:

  • outputting multiple, sequential sound waves from a single transducer mounted on a mobile robot;

    receiving echoes of the outputted sound waves with a receiver mounted on the mobile robot;

    obtaining a threshold value based on a latest one of the echoes and previously received ones of the echoes determined to fall within a predetermined time range of the latest echo;

    determining if the latest echo is a result of a latest one of the outputted sound waves based on the threshold value;

    detecting the presence of an object based on the determination of whether the latest echo is a result of the latest outputted sound wave; and

    controlling the mobile robot based on the detection of the presence of the object.

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