公开(公告)号：WO2017004524A1

公开(公告)日：2017-01-05

申请号：PCT/US2016/040707

申请日：2016-07-01

Applicant: IROBOT CORPORATION ,  BUSHMAN, Tom ,  HERMAN, James ,  BLITZBLAU, Seth ,  DESCHAINE, Nathan J. ,  REICHEL, Andrew Scott

Inventor： BUSHMAN, Tom ,  HERMAN, James ,  BLITZBLAU, Seth ,  DESCHAINE, Nathan J. ,  REICHEL, Andrew Scott

IPC: G06F19/00

CPC classification number: B25J9/1666 ,  A47L9/2826 ,  A47L9/2852 ,  A47L2201/04 ,  B25J9/1697 ,  G01S17/93 ,  G05D1/024 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/47

Abstract: An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.

Abstract translation: 自主机器人包括机器人主体，被配置为推进机器人的驱动器，设置在机器人主体上的传感器系统以及与驱动器和传感器系统连通的导航控制器电路。 所述传感器系统包括至少一个接近传感器，所述至少一个接近传感器包括传感器主体，以及由所述传感器主体容纳的第一发射器，第二发射器和接收器，其中所述接收器检测所述接收机视场向量的有向检测体内的物体， 向下超过机器人身体的周边。 接收器设置在第一和第二发射器之上和之间，发射器具有向上倾斜的两次重构的发射光束，以与来自机器人主体的周边的固定距离范围内的接收器视场相交，以限定有界检测体积 。