公开(公告)号：US08862271B2

公开(公告)日：2014-10-14

申请号：US14033922

申请日：2013-09-23

Applicant: iRobot Corporation

Inventor： Steven V. Shamlian ,  Samuel Duffley ,  Nikolai Romanov ,  Frederick D. Hook ,  Mario E. Munich ,  Dhiraj Goel

IPC: G05B15/00 ,  G05B19/00 ,  G06F19/00 ,  G05B19/04 ,  G05D1/02

CPC classification number: G05D1/0238 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/027 ,  G05D2201/0215

Abstract: 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.

Abstract translation: 接近传感器包括布置在彼此相邻的传感器主体上的第一和第二传感器。 第一个传感器是发射器和接收器之一。 第二个传感器是发射器和接收器中的另一个。 第三传感器被布置为与第二传感器相邻，与第一传感器相对。 如果第一传感器是发射器或第一传感器是接收器，则第三传感器是发射器。 每个传感器相对于其他两个传感器定位成一定角度。 每个传感器具有相应的视野。 第一视场与第二视场相交，第二视野限定了在第一阈值距离内检测楼层表面的第一容积。 第二视场与第三视野相交，第三视野限定了在第二阈值距离内检测楼面的第二体积。