Proximity Sensing On Mobile Robots

摘要

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.

主权项

1. A proximity sensor comprising:
a sensor body; a first emitter housed by the sensor body; a second emitter housed by the sensor body adjacent to the first emitter; and a receiver disposed adjacent the first emitter opposite the second emitter; wherein the first emitter has a first field of view, the second emitter has a second field of view, and the receiver has a third field of view; and wherein an intersection of the first and third field of views defines a first volume and an intersection of the second and third fields of view defines a second volume, the first volume detecting a first surface within a first threshold distance from a sensing reference point and the second volume detecting a second surface within a second threshold distance from the sensing reference point, the second threshold distance being greater than the first threshold distance.