Robot navigational sensor system

Patent metadata

Field	Value
Publication number	US-2017001311-A1
Application number	US-201514789511-A
Country	US
Kind code	A1
Filing date	Jul 1, 2015
Priority date	Jul 1, 2015
Publication date	Jan 5, 2017
Grant date	—

Abstract

An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.

First claim

What is claimed is:

1 . An autonomous robot comprising:
a robot body defining a forward drive direction, the robot body having a bottom surface and a top surface located at a robot height above a floor surface; a drive configured to propel the robot over a floor surface; a sensor system disposed on the robot body; and a navigation controller circuit in communication with the drive and the sensor system, the controller circuit configured to process a signal received from the sensor system and to control the drive as a function of the processed signal; wherein the sensor system comprises at least one proximity sensor comprising:
a sensor body, and
a first emitter, a second emitter and a receiver housed by the sensor body,
wherein the receiver is arranged to detect radiation reflected from objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body, wherein the receiver is disposed above and between the first and second emitters, the first and second emitter having a twice-reshaped emission beams, the twice-reshaped emission beams being angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume, wherein the receiver is configured to generate a signal in response to receiving reflected radiation produced by the first and second emitters as the first and second emitters are activated sequentially, and wherein the first and second emitters are spaced from the top surface of the robot body by a distance of less than 35-45% of the robot height, and the receiver is spaced from the top surface of the robot body at a distance of less than 20-35% of the robot height.

2 . The autonomous robot of claim 1 , wherein the first and second emitters are arranged side by side and the receiver is centered along a midline between the first and second emitters.

3 . The autonomous robot of claim 1 , wherein, an upper bound of the field of view of the receiver is parallel to the floor surface and the twice-reshaped emission beams are angled upward with respect to the floor surface.

4 . The autonomous robot of claim 3 , wherein a lower bound of the twice-reshaped emission beams is angled at about 10 to about 20 degrees with respect to the floor surface.

5 . The autonomous robot of claim 3 , wherein a lower bound of the field of view the receiver is angled downward to intersect the floor surface at a distance from the robot body that is less than 30 percent of the body length.

6 . The autonomous robot of claim 5 , wherein the upper bound of the receiver field of view is angled downward between about 0 and about 15 degrees with respect to the floor surface.

7 . The autonomous robot of claim 1 , wherein the field of view of the receiver subtends an angle on a plane parallel to the floor surface which is greater than an angle on a plane parallel to the floor surface subtended by the twice-reshaped beam of an emitter.

8 . The autonomous robot of claim 1 , wherein the sensor system comprises two or more such proximity sensors.

9 . The autonomous robot of claim 8 , wherein the two or more proximity sensors are arranged laterally in an array across a front of the robot body.

10 . The autonomous robot of claim 9 , wherein two proximity sensors arranged laterally in the array are separated by a distance of less than 25% of a maximum width of the robot body.

11 . The autonomous robot of claim 1 , wherein a distance from an outermost proximity sensor in the array to a lateral side of the robot body is less than 10% of a maximum width of the robot body.

12 . The autonomous robot of claim 1 , wherein the bounded detection volumes of at least a first portion of the array of proximity sensors are located forward of a front of the robot body, with respect to a non-turning drive direction of the robot.

13 . The autonomous robot of claim 12 , wherein the bounded detection volumes are disposed completely within a distance of approximately 55 mm from the robot body.

14 . The autonomous robot of claim 12 , wherein the bounded detection volumes of a second portion of the array of proximity sensors partially extend beyond a lateral side of the robot body.

15 . The autonomous robot of claim 1 , wherein the upper and lower bounds of the twice-reshaped emission beams and the upper and lower bounds of the receiver field of view are determined by respective sets of emission and receiver baffles of the sensor body.

16 . The autonomous robot of claim 15 , wherein at least one emission baffle is a pin point aperture located at an emission source.

17 . The autonomous robot of claim 15 , wherein at least one emission baffle has sharp edges that further define the upper and lower bounds of an emission to form the twice-reshaped emission beam.

18 . The autonomous robot of claim 15 , wherein the set receiver baffles includes a blunt upper baffle edge and angled lower baffle edge that define upper and lower bounds of the receiver field of view.

19 . The autonomous robot of claim 1 , wherein intersection of the receiver field of view and a first of the twice-reshaped emission beam defines a first bounded detection volume and an intersection of the receiver field of view and a second of the twice-reshaped emission beam defines a second bounded detection volume, the first volume overlapping the second volume at a minimum distance of 2 mm from the robot body.

20 . A proximity sensor system for an autonomous robot, the sensor system comprising:
a sensor arranged to respond to presence of objects beyond a perimeter of the robot as the robot moves over a horizontal surface, the sensor comprising a receiver and a set of multiple emitters; and a controller configured to sequentially enable and disable the emitters; wherein the receiver is disposed at a different height than the emitters, and wherein the receiver and the set of emitters are oriented with different beam axis orientations with respect to horizontal, such that a beam of the receiver intersects with twice-reshaped emission beams of the emitters to define a bounded detection volume disposed within a distance of about 2 to about 55 mm from the periphery of the robot.

21 . The proximity sensor system of claim 20 , wherein the controller sequentially enables and disables each of the emitters such that only one of the emitters is actuated at one time.

22 . The proximity sensor system of claim 20 , wherein the controller issues a direction-changing drive command in response to an object interfering with the bounded detection volume.

23 . The proximity sensor system of claim 20 , wherein the controller issues a speed-changing drive command in response to an object interfering with the bounded detection volume.

24 . The proximity sensor system of claim 20 , wherein the sensor further comprises a sensor body having at least two baffles arranged to limit the beam of at least one of the emitters or detector.

25 . An autonomous robot comprising:
a robot body defining a forward drive direction, the robot body having a bottom surface and a top surface located at a robot height above a floor surface; a drive configured to propel the robot over a floor surface; a sensor system disposed on the robot body; and a navigation controller circuit in communication with the drive and the sensor system, the controller circ

Assignees

• Irobot Corp

Inventors

• Bushman Tom
• Herman James
• Blitzblau Seth
• Deschaine Nathan J
• Reichel Andrew Scott

Classifications

• A47L9/2826

  the condition of the floor · CPC title

• A47L9/2852

  Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles · CPC title

• G01S17/93

  for anti-collision purposes · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title

• Y10S901/01

  Mobile robot · CPC title