Proximity sensing on mobile robots

US9442488B2 · kind B2 · utility

Assignee

• iRobot Corporation · US

Inventors

• Steven V. Shamlian · Watertown, US
• Samuel Duffley · Cambridge, US
• Nikolai Romanov · Oak Park, US
• Dhiraj Goel · Pasadena, US
• Frederic D. Hook · Fontana, US
• Mario E. Munich · Tustin, US

Key dates

• Filing date: May 16, 2014
• Grant date: Sep 13, 2016
• Expiry date: May 16, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/027
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.