Obstacle sensing apparatus for a self-propelled cleaning robot

Details Obstacle sensing apparatus for a self-propelled cleaning robot Obstacle sensing apparatus for a self-propelled cleaning robot

1992-12-30

1994-03-15

Focarino, Margaret A.

Motor vehicles

With means for controlling operation responsive to...

Radiation, force, or waves reflected from external object or...

15319, 318587, A47L 928

Patent

active

052939553

ABSTRACT:
This invention relates to an obstacle sensing apparatus for a self-propelled cleaning robot which is capable of accurately sensing the position of an obstacle without the influence of ultrasonic directivity, and which comprises mounting members (22) disposed at both sides of the front portion of a body(11) of the robot; each made of a three-sided plate including a central portion facing forwardly of the body(11), one side portion bent at an angle of 90.degree. relative to the central portion, and one side portion inclined at an angle of 45.degree. relative to the central portion; ultrasonic distance-measuring means disposed in each portion of each mounting member(22) and an ultrasonic distance-measuring circuit (27) to which the ultrasonic elements are connected; and control means for judging presence and absence of an obstacle on the basis of the output of the ultrasonic distance-measuring means, thereby controlling the direction of travel of the body(11).

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