公开(公告)号：US20170234961A1

公开(公告)日：2017-08-17

申请号：US15435058

申请日：2017-02-16

Applicant: iRobot Corporation

Inventor： Erik Steltz ,  Scott Lenser ,  Steven Shamlian ,  Brian Doughty ,  Heath Dube

IPC: G01S5/02 ,  H01Q21/29 ,  G01S3/48 ,  G05D1/02 ,  G01S1/68 ,  G01S5/10 ,  B25J5/00 ,  H01Q1/44 ,  G01S3/02

Abstract: A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.

公开(公告)号：US10459063B2

公开(公告)日：2019-10-29

申请号：US15435058

申请日：2017-02-16

Applicant: iRobot Corporation

Inventor： Erik Steltz ,  Scott Lenser ,  Steven Shamlian ,  Brian Doughty ,  Heath Dube

IPC: G01S5/00 ,  G01S5/02 ,  G01S3/48 ,  G01S3/02 ,  G01S1/68 ,  G01S5/10 ,  H01Q1/08 ,  H01Q3/08 ,  H01Q9/30 ,  G01S5/12

Abstract: A mobile robot includes a chassis, a shell moveably mounted on the chassis, and a cutting assembly mounted to the chassis. The mobile robot also includes a communication system that includes an antenna module disposed on a rear portion of the mobile robot. The antenna module includes a base assembly, and an antenna assembly mounted to the base assembly by a spring. The antenna assembly includes a ranging antenna, and at least three angle antennas arranged axisymmetrically about the ranging antenna, such that the ranging antenna and the three angle antennas define a tetrahedral geometry for determining an angle of arrival for one or more incident signals.