US5867800A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and device for sensing of obstacles for an autonomous device
Assignee: Electrolux AB
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Filing: 1995-03-28
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Granted: 1999-02-02
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Expires: 2015-03-28
Abstract
Abstract PCT No. PCT/SE95/00330 Sec. 371 Date Sep. 30, 1996 Sec. 102(e) Date Sep. 30, 1996 PCT Filed Mar. 28, 1995 PCT Pub. No. WO95/26512 PCT Pub. Date Oct. 5, 1995The present invention provides a method and a system for proximate field orientation of an autonomous device and utilizes a transmitted wave having a first frequency of slow propagation, whereby reflections from obstacles within a proximate area are detected. According to the present invention receivers are arranged in a slanted plane or preferably along a curved base-line to, in a simple way, obtain a three-dimensional direction to an obstacle reflecting the frequency of slow propagation. Additionally, an absorber or a screen or a combination thereof is arranged above at least one receiver to act as an "eyebrow" attenuating undesired reflections which at the receiver come from overhead. Additionally, at least one of the receivers along the generally curved base-line is arranged differently in height in relation to the remaining receivers, and preferably the most outer receiver on each side in the line of receivers along the generally curved base-line is arranged differently in height in relation to the remaining receivers for an improvement of the three-dimensional resolution.
Inventors
- 👤 Edlund Leif
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 17:23
CPC Classifications
G; G01; G01S; G01S15/00; G01S15/88; G01S15/93; G01S15/931; A; A47; A47L; A47L11/00; A47L11/40; A47L11/4011; A47L11/4061; G01S15/74; G01S15/87; G01S15/874; G01S15/89; G01S7/00; G01S7/52; G01S7/54; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0227; G05D1/0231; G05D1/0234; G05D1/0246; G05D1/0255; A47L2201/00; A47L2201/04; G01S15/02; G01S15/06; G01S15/08; G01S15/10; G01S15/102; G01S15/104; G01S15/86; G01S2015/937; G01S2015/938; G05D1/0212; G05D1/0221
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
256 words
A method for sensing proximity for an autonomous device, said autonomous device including wheels, a motor, and a microprocessor and proximity sensing system for orientation and guidance of said autonomous device, said proximity sensing system including a transmitter and receivers, said receivers having signal interfaces for transmitting digital signals to said microprocessor and being arranged in one of a slanted plane and along a curved baseline, comprising the steps of: transmitting a wave from said transmitter, said wave having a slow propagation and being transmitted within a continuous sector of a normal travelling direction of said autonomous device; detecting reflections of said wave by a number of said receivers during a predetermined time slot, corresponding to a proximate area, thereby obtaining a three-dimensional direction to an obstacle; a transmitting digital signals from said number of said receivers to said microprocessor in response to said detecting; processing said digital signals by said microprocessor and creating an orientation data base within said proximate area; utilizing said data base continuously for orientation and guidance of said autonomous device with respect to detected obstacles during continued automatic motion of said autonomous device, and obtaining further proximity data for use by said microprocessor in combination with said data base for orientation and guidance of said autonomous device during said continued automatic motion by processing further digital signals transmitted from a number of said receivers to said microprocessor in response to further of said transmitting and detecting on the same wave frequency within said predetermined time slot during said continued automatic motion.
Claim 2
Independent Claim
256 words
A method for sensing proximity for an autonomous device, said autonomous device including wheels, a motor, and a microprocessor and proximity sensing system for orientation and guidance of said autonomous device, said proximity sensing system including a transmitter and receivers, said receivers having signal interfaces for transmitting digital signals to said microprocessor and being arranged in one of a slanted plane and along a curved baseline, comprising the steps of: transmitting a wave from said transmitter, said wave having a slow propagation and being transmitted within a continuous sector of a normal travelling direction of said autonomous device; detecting reflections of said wave by a number of said receivers during a predetermined time slot, corresponding to a proximate area, thereby obtaining a three-dimensional direction to an obstacle; a transmitting digital signals from said number of said receivers to said microprocessor in response to said detecting; processing said digital signals by said microprocessor and creating an orientation data base within said proximate area; utilizing said data base continuously for orientation and guidance of said autonomous device with respect to detected obstacles during continued automatic motion of said autonomous device, and obtaining further proximity data for use by said microprocessor in combination with said data base for orientation and guidance of said autonomous device during said continued automatic motion by processing further digital signals transmitted from a number of said receivers to said microprocessor in response to further of said transmitting and detecting on the same wave frequency within said predetermined time slot during said continued automatic motion.
Claim 3
Dependent Claim
31 words
The method according to claim 1 including the further step of arranging at least some of said receivers differently in height in relation to the remaining receivers for improving three-dimensional resolution.
Claim 4
Dependent Claim
48 words
The method according to claim 1 including the further step of providing said autonomous device with an absorber above at least one receiver in the line of said receiver to attenuate undesired reflections from above and/or from the side, said absorber acting as an eyebrow above the receiver.
Claim 5
Dependent Claim
48 words
The method according to claim 1 further including the step of providing said autonomous device with a screen above at least one receiver in the line of said receiver to attenuate undesired reflections from above and/or from the side, said screen acting as an eyebrow above said receiver.
Claim 6
Dependent Claim
14 words
The method according to claim 1 wherein said wave comprises a longitudinal acoustic wave.
Claim 7
Dependent Claim
20 words
The method according to claim 1 wherein said wave comprises an acoustic wave having a frequency within the ultrasonic range.
Claim 8
Dependent Claim
24 words
The method according to claim 1 wherein said wave comprises one of a short, regularly repeated pulse and a repeated swept pulse (chirp signal).
Claim 9
Dependent Claim
34 words
The method according to claim 1 including the further step of arranging the most outer receiver on each side of a line of said receivers differently in height in relation to the remaining receivers.
Claim 10
Dependent Claim
19 words
The method according to claim 1 wherein said receivers comprise microphone elements adopted to the frequency of said wave.
Claim 11
Independent Claim
274 words
A system for sensing proximity for an autonomous device, said autonomous device including wheels, a motor, and a microprocessor and proximity sensing system for orientation and guidance of said autonomous device, said proximity sensing system including at least a transmitter and a plurality of receivers, said receivers having signal interfaces for transmitting digital signals to said microprocessor and being arranged in one of a slanted plane and along a curved baseline for obtaining direction resolution to obstacles having reflected a wave of slow propagation, said transmitter being structured and arranged to transmit said wave, said wave having a slow propagation and being transmittable within a continuous sector of a normal travelling direction of said autonomous device; said receivers being structured and arranged to detect reflections of said wave during a predetermined time slot, corresponding to a proximate area, thereby obtaining a three-dimensional direction to an obstacle; said receivers further being structured and arranged to transmit digital signals from said receivers to said microprocessor in response to said reflections; said microprocessor being structured and arranged to process said digital signals and create an orientation data base within said proximate area which is utilized continuously for orientation and guidance of said autonomous device with respect to detected obstacles during continued automatic motion of said autonomous device, and which is used in combination with further proximity data for orientation and guidance of said autonomous device during said continued automatic motion by processing further digital signals transmitted from a number of said receivers to said microprocessor in response to further transmission and detection on the same wave frequency within said predetermined time slot during said continued automatic motion.
Claim 12
Independent Claim
274 words
A system for sensing proximity for an autonomous device, said autonomous device including wheels, a motor, and a microprocessor and proximity sensing system for orientation and guidance of said autonomous device, said proximity sensing system including at least a transmitter and a plurality of receivers, said receivers having signal interfaces for transmitting digital signals to said microprocessor and being arranged in one of a slanted plane and along a curved baseline for obtaining direction resolution to obstacles having reflected a wave of slow propagation, said transmitter being structured and arranged to transmit said wave, said wave having a slow propagation and being transmittable within a continuous sector of a normal travelling direction of said autonomous device; said receivers being structured and arranged to detect reflections of said wave during a predetermined time slot, corresponding to a proximate area, thereby obtaining a three-dimensional direction to an obstacle; said receivers further being structured and arranged to transmit digital signals from said receivers to said microprocessor in response to said reflections; said microprocessor being structured and arranged to process said digital signals and create an orientation data base within said proximate area which is utilized continuously for orientation and guidance of said autonomous device with respect to detected obstacles during continued automatic motion of said autonomous device, and which is used in combination with further proximity data for orientation and guidance of said autonomous device during said continued automatic motion by processing further digital signals transmitted from a number of said receivers to said microprocessor in response to further transmission and detection on the same wave frequency within said predetermined time slot during said continued automatic motion.
Claim 13
Dependent Claim
29 words
The system according to claim 10 wherein at least some of said receivers are arranged differently in height in relation to the remaining receivers for improving the three-dimensional resolution.
Claim 14
Dependent Claim
50 words
The system according to claim 10 wherein said autonomous device is provided with an absorber above at least one receiver in the line of said receivers, said absorber attenuating undesired reflections from above and/or from the side and then acts in the same manner as an eyebrow above said receivers.
Claim 15
Dependent Claim
50 words
The system according to claim 10 wherein said autonomous device is provided with a screen above at least one receiver in the line of said receivers, said screen attenuating undesired reflections from above and/or from the side and then acts in the same manner as an eyebrow above the receivers.
Claim 16
Dependent Claim
31 words
The system according to claim 10 wherein the most outer receivers on each side of the line of said receivers are arranged differently in height in relation to the remaining receivers.
Claim 17
Dependent Claim
14 words
The system according to claim 10 wherein said wave comprises a longitudinal acoustic wave.
Claim 18
Dependent Claim
20 words
The system according to claim 10 wherein said wave comprises an acoustic wave having a frequency within the ultrasonic range.
Claim 19
Dependent Claim
24 words
The system according to claim 10 wherein said wave comprises one of a short, regularly repeated pulse and a repeated swept pulse (chirp signal).
Claim 20
Dependent Claim
19 words
The system according to claim 10 wherein said receivers comprise microphone elements adopted to the frequency of said wave.
Claim 21
Dependent Claim
45 words
The method according to claim 2, wherein said autonomous device is provided with an absorber above at least one receiver in the line of said receiver to attenuate undesired reflections from above and/or from the side, said absorber acting as an eyebrow above the receiver.
Claim 22
Dependent Claim
49 words
The system according to claim 11 wherein said autonomous device is provided with an absorber above at least one receiver in the line of receiver, said absorber attenuating undesired reflections from above and/or from the side and then acts in the same manner as an eyebrow above the receiver.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-02-01 | 2002-08-03 | 2003-02-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-02-01 | 2006-08-03 | 2007-02-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-02-01 | 2010-08-03 | 2011-02-02 | $7700.00 | Window Closed / Lapsed |