| 摘要 |
The invention discloses a proximity sensing system and an autonomous device, like a vacuum-cleaner, being provided with a pair of independent driven wheels (17, 18). The device contains for the proximity orientation and guiding a microprocessor system and a sonar system comprising at least an ultrasonic transmitter and an ultrasonic receiver. An additional mechanical touch sensor is also used in form of a forward directed bumper (16) carrying the transmitter as well as receiving microphone units. The mechanical bumper is actuacting at least one touch sensor if the device makes contact to an obstacle in the course of the moving device. The transmitter is a stripe-shaped ultrasound transducer (10) positioned at the front of the device and transmitting ultrasonic waves with a narrow vertical distribution within a wide sector in front of the device. The receiver comprises a number of microphone units (12) provided with hollow pipes (12a, 12b) for the sound. The microphone units (12) together with the transmitter form an efficient sonar system for detecting echoes reflected from objects in the forward course of the moving device. |
