公开(公告)号：US20180299550A1

公开(公告)日：2018-10-18

申请号：US16012097

申请日：2018-06-19

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  G01S7/497 ,  G01S17/36 ,  G01S17/10 ,  G01S7/481 ,  G01S1/70 ,  A01D34/00 ,  G01S17/89 ,  G01S17/42

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

公开(公告)号：US10024964B2

公开(公告)日：2018-07-17

申请号：US14529815

申请日：2014-10-31

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  A01D34/00 ,  G01S1/70 ,  G01S17/89 ,  G01S17/42 ,  G01S7/481 ,  G01S17/10 ,  G01S17/36 ,  G01S7/497

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

公开(公告)号：US20150124242A1

公开(公告)日：2015-05-07

申请号：US14529815

申请日：2014-10-31

Applicant: iRobot Corporation

Inventor： Travis Pierce ,  Jamie Milliken ,  Marc Wilga

IPC: G01S17/06 ,  G01S17/89 ,  A01D34/00 ,  G01S1/70

CPC classification number: G01S17/06 ,  A01D34/008 ,  G01S1/70 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/497 ,  G01S17/10 ,  G01S17/36 ,  G01S17/42 ,  G01S17/89 ,  Y10S901/47

Abstract: A scanning optical range finder in a mobile robot includes an optical emitter circuit, a non-imaging optical element, an optical detector circuit, and a ranging circuit. The non-imaging optical element is arranged to receive optical signals at an entrance aperture thereof responsive to operation of the optical emitter circuit, and to direct the optical signals to an output aperture thereof. The optical detector circuit is configured to receive the optical signals from the output aperture of the non-imaging optical element, and to generate detection signals based on respective phase differences of the optical signals relative to corresponding outputs of the optical emitter circuit. The ranging circuit is configured to calculate a range of a target from the phase differences indicated by the detection signals. Related devices and methods of operation are also discussed.

Abstract translation: 移动机器人中的扫描光学测距仪包括光发射器电路，非成像光学元件，光学检测器电路和测距电路。 非成像光学元件布置成响应于光发射器电路的操作而在其入口孔处接收光信号，并将光信号引导到其输出孔。 光检测器电路被配置为从非成像光学元件的输出孔接收光信号，并且基于相对于光发射器电路的相应输出的光信号的相位差产生检测信号。 测距电路被配置为根据由检测信号指示的相位差来计算目标的范围。 还讨论了相关设备和操作方法。