Obstacle following sensor scheme for a mobile robot

摘要

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.

主权项

1. A robot comprising:
a robot housing; a drive system housed by the robot housing and configured to maneuver the robot with respect to a wall; at least one sensor component housed in the robot housing and directed outwardly for detecting the presence of a wall surface, the sensor component comprising: an emitter that emits a directed signal having a defined field of emission; and a detector located forward of the emitter on the housing and 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 wall as determined by detection of the signal in the intersection space.