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US 11,597,104 B2Granted
Mobile robot sensor configuration
AssigneeX Development LLC
InventorsJustine Rembisz, Alex Shafer
Life of this patent
Estimating the term…
Abstract
A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.
Claims20
A mobile robotic device, comprising:
- a plurality of one dimensional (1D) time-of-flight (ToF) sensors,
- wherein each 1D ToF sensor of the plurality of 1D ToF sensors is mounted at a fixed position and orientation on the mobile robotic device,
- wherein each pair of 1D ToF sensors of the plurality of 1D ToF sensors are fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping, and
- wherein the plurality of 1D ToF sensors are mounted on at least one bracket configured to fit the mobile robotic device.
1 more element
A method comprising:
- receiving sensor data from a plurality of one-dimensional (1D) time-of-flight (ToF) sensors,
- wherein each 1D ToF sensor of the plurality of 1D ToF sensors is mounted at a fixed position and orientation on the mobile robotic device,
- wherein each pair of 1D ToF sensors of the plurality of 1D ToF sensors are fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping,
- wherein the plurality of 1D ToF sensors are mounted on at least one bracket configured to fit the mobile robotic device;
- processing the sensor data to detect one or more obstacles in an environment of the mobile robotic device;
- and
- navigating the mobile robotic device based on the sensor data.
4 more elements
A mobile base, comprising:
- a plurality of one dimensional (1D) time-of-flight (ToF) sensors,
- wherein each 1D ToF sensor of the plurality of 1D ToF sensors is mounted at a fixed position and orientation on the mobile base,
- wherein each pair of 1D ToF sensors of the plurality of 1D ToF sensors are fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping, and
- wherein the plurality of 1D ToF sensors are mounted on at least one bracket configured to fit the mobile base.
1 more element
Dependencies are inferred from the claim text.