Obstacle following sensor scheme for a mobile robot
First Claim
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1. A robot comprising:
- a robot housing;
a drive system housed by the robot housing and configured to maneuver the robot with respect to an obstacle;
at least one sensor component housed in the robot housing and directed outwardly for detecting the presence of the obstacle, the sensor component comprising;
an emitter that emits a directed signal having a defined field of emission; and
a detector having a defined field of view directed to intersect the field of emission of the emitter, the intersection of the field of emission and the field of view defining a volume of intersection space laterally adjacent the robot housing; and
a circuit in communication with the detector and the drive system for maneuvering the robot and the intersection space as a function of the orientation of the robot with respect to the obstacle as determined by detection of the signal in the intersection space.
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Abstract
A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.
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20 Claims
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1. A robot comprising:
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a robot housing; a drive system housed by the robot housing and configured to maneuver the robot with respect to an obstacle; at least one sensor component housed in the robot housing and directed outwardly for detecting the presence of the obstacle, the sensor component comprising; an emitter that emits a directed signal having a defined field of emission; and a detector having a defined field of view directed to intersect the field of emission of the emitter, the intersection of the field of emission and the field of view defining a volume of intersection space laterally adjacent the robot housing; and a circuit in communication with the detector and the drive system for maneuvering the robot and the intersection space as a function of the orientation of the robot with respect to the obstacle as determined by detection of the signal in the intersection space. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification