Robot navigational sensor system

A proximity sensor system for an autonomous robot, the sensor system comprising:

• a sensor arranged to respond to presence of objects beyond a perimeter of the robot as the robot moves over a horizontal surface, the sensor comprising a receiver and a set of multiple emitters;
• and
• a controller configured to sequentially enable and disable the emitters;
• wherein the receiver is disposed at a different height than the emitters, and wherein the receiver and the set of emitters are oriented with different beam axis orientations with respect to horizontal, such that a beam of the receiver intersects with twice-reshaped emission beams of the emitters to define a bounded detection volume disposed within a distance of about 2 to about 55 mm from the periphery of the robot.

An autonomous robot comprising:

• a robot body defining a forward drive direction, the robot body having a bottom surface and a top surface located at a robot height above a floor surface;
• a drive configured to propel the robot over a floor surface;
• a sensor system disposed on the robot body;
• and
• a navigation controller circuit in communication with the drive and the sensor system, the controller circuit configured to process a signal received from the sensor system and to control the drive as a function of the processed signal;
• wherein 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 is arranged to detect radiation reflected from objects in a receiver field of view aimed outward and downward beyond a periphery of the robot body,
• wherein the receiver is disposed above and between the first and second emitters, each emitter having a twice-reshaped emission beam, each twice-reshaped emission beam being angled upward to intersect the receiver field of view at a fixed range of distances from the robot body,
• wherein the receiver is configured to generate a signal in response to receiving reflected radiation produced by the first and second emitters as the first and second emitters are activated sequentially, and
• wherein the twice-shaped emission beams include a minimum height within 35-45% of the robot height measured from the top surface of the robot body, and the receiver field of view includes a maximum height of 20-35% of the robot height measured from the top surface of the robot body.