Obstacle following sensor scheme for a mobile robot

  • US 8,412,377 B2
  • Filed: 06/24/2005
  • Issued: 04/02/2013
  • Est. Priority Date: 01/24/2000
  • Status: Active Grant
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First Claim
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1. A method for operating a mobile robot, the method comprising:

  • detecting the presence of an object proximate the mobile robot by emitting an infrared signal and detecting a reflected infrared signal;

    sensing a value of the reflected infrared signal corresponding to the object;

    comparing the sensed value to a threshold value corresponding to a detected surface having a threshold level of reflectivity;

    moving the mobile robot with respect to the detected object in response to the comparison of the sensed value and the threshold value; and

    updating the threshold value upon the occurrence of an event, the event comprising at least one of a physical contact between the mobile robot and the object and when the updated threshold value is less than the non-updated threshold value.

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