PCI‘
`
`International Bureau
`WORLD INTELLECTUAL PROPERTY ORGANIZATION
`
`
`
`INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT)
`
`(51) International Patent Classification 5 i
`(11) International Publication Number:
`W0 93/03399
`
`
`GOIS 17/88, G05D 1/02
`
`(43) International Publication Date:
`18 February 1993 (18.02.93)
`
`
`
`
`
`PCT/SE92/00544
`7 August 1992 (07.08.92)
`
`(21) International Application Number:
`
`(22) International Filing Date:
`
`(81) Designated States: European patent (AT, BE, CH, DE,
`DK, ES, FR, GB, GR, IE, IT, LU, MC, NL, SE).
`
`Published
`
`(30.) Priority data:
`741,683
`
`'
`
`7 August 1991 (07.08.91)
`
`US
`
`With international search report.
`
`(71) Applicant: AKTIEBOLAGET ELECTROLUX [SE/SE];
`Luxbacken 1, 8-105 45 Stockholm (SE).
`
`(72) Inventor: OHMAN, Carl, Gustav ; Talgoxevagen 8, S-597
`00 Atvidaberg (SE).
`
`
`
`
`
`
`
`
`
`(74) Agents: HAGELBACK, Evert et al.; AB Electrolux, Cor-
`porate Patents & Trademarks, 8-105 45 Stockholm (SE).
`
`
`
`
`
`
` (54) Title: OBSTACLE DETECTING ASSEMBLY
`
`‘)
`
`(57) Abstract
`
`
`
`
`
`An obstacle detecting assembly includes a narrow-beam LED, a wide-beam LED and a light detector. The narrow-beam
`LED provides range, while the wide-beam LED provides wide coverage at closer range. The assemblies are located about the
`
`front of a vacuum cleaner robot and provide warning of obstacles in the robot’s path. When an obstacle is first detected, the robot
`reduces speed and continues until contact or a fixed distance is traveled. The assemblies not only detect obstacles, but also over-
`hanging furniture and steps.
`
`
`Silver Star Exhibit 1008
`
`Silver Star Exhibit 1008
`
`

`

`\t
`
`in
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`A)
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`FOR THE PURPOSES OF INFORMATION ONLY
`
`Codes used to identify States party to the PCT on the from pages of pamphlets publishing international
`applications under the PCT.
`
`United States of America
`
`AT
`AU
`BB
`BE
`BF
`BG
`8.]
`BR
`CA
`CF
`CG
`CH
`CI
`
`CS
`CZ
`DE
`DK
`F5
`
`Aualria
`Australia
`Barbados
`Belgium
`Burkina Film)
`Bulgaria
`Benin
`Brazil
`Canada
`Central African Republic
`(‘ongo
`Switzerland
`('61:: d'lvoire
`(‘ameroon
`Czechoslovakia
`(‘Jech Republic
`Germany
`Denmark
`Spain
`
`Finland
`France
`Gabon
`United Kingdom
`Guinea
`Greece
`Hungary
`Ireland
`Italy
`Japan
`Democratic People‘s Republic
`of Korea
`Republic of Korea
`Liechtenstein
`Sri Lanka
`Luxembourg
`Monaco
`Madagascar
`Mali
`
`Mongolia
`Mauritania
`Malawi
`Netherlands
`Norway
`New Zealand
`Poland
`Portugal
`Romania
`Russian Federation
`Sudan
`Sweden
`Slovak Republic
`Senegal
`Soviet Union
`Chad
`Togo
`Ukraine
`
`Silver Star Exhibit 1008 - 2
`
`Silver Star Exhibit 1008 - 2
`
`

`

`WO'93/03399
`
`' 1 '
`
`PCT/SE92/00544
`
`OBSTACLE DETECTING ASSEMBLY
`
`BACKGROUND OF THE INVENTION
`
`The present
`
`invention relates
`
`to optical proximity
`
`sensors and in particular to a control system for a robot.
`
`As electronics becomes smaller, lighter,
`
`less expensive
`
`and more powerful; software becomes more sophisticated; and
`
`consumers come_to expect more features and more value,
`
`the
`
`market
`
`for
`
`autonomous
`
`appliances
`
`such
`
`as
`
`robot
`
`vacuum
`
`cleaners, floor scrubbers and polishers increases.
`
`In these applications it is important
`
`to come as close
`
`as possible to an obstacle in order to clean any and all open
`areas.
`
`In order to keep the cost and complexity of the robot
`
`down sensors need to be kept as simple and inexpensive as
`
`possible.
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`SUMMARY OF THE INVENTION
`
`The present
`
`invention provides a simple and low cost
`
`obstacle detector that provides excellent obstacle detection.
`
`The detector is integrated into a control system that provides
`
`for the avoidance of various obstacles to autonomous operation
`
`of a cleaning robot.
`
`The obstacle detecting assembly includes a first light
`
`source having a narrow beam,
`
`a second light source having a
`
`wide beam, a light detecting means that provides a signal
`
`in
`
`response
`
`to detected light,
`
`and
`
`a
`
`control means
`
`that
`
`intermittently activates
`
`the
`
`light sources,
`
`receives
`
`the
`
`signal when a distant obstacle within the narrow beam reflects
`
`light from the first source to the light detecting means and
`
`receives the signal when a proximate obstacle within the wide
`
`beam reflects light from the second light source to the light
`
`detecting means.
`
`Silver Star Exhibit 1008 - 3
`
`Silver Star Exhibit 1008 - 3
`
`

`

`W093!03399
`
`PCI'/SE92/00544
`
`H
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`[1»)h)
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`4:.
`
`O}U}
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`The assembly may also advantageously include a first
`light blocking means located between the first light source
`and the light sensing means.
`The first light blocking means
`
`blocks the light detecting means from the first light source.
`
`Also included may be a second light blocking means located
`
`between_the second light source and the light sensing means.
`The second light blocking means blocks the light detecting
`
`means from the second light source.
`
`The robot control system includes a plurality of forward
`
`obstacle detection sensors facing in a.
`
`forward direction.
`
`These forward obstacle detection sensors provide an early
`
`warning signal
`
`indicative of
`
`the
`
`remote presence of
`
`an
`
`obstacle.
`
`Also included is a forward contact sensor. This sensor
`
`provides a contact signal indicative of the robot contacting
`
`an obstacle.
`
`Also included is a control means adapted to receive the
`
`signals from the sensors and a drive means adapted to propel
`
`the robot in response to the control means.
`
`The robot decelerates to a low speed upon receipt of the
`
`early warning signal and.continues at the slow speed until the
`
`first occurring of receipt of the contact signal or a known
`
`distance is traveled.
`
`The robot control system may also advantageously include
`
`a left obstacle detection sensor facing in a direction of
`
`between 25 and 50 degrees left of the forward direction and
`
`between 25 and 35 degrees up from the forward direction.
`
`The
`
`left sensor provides a left overhang signal indicative of an
`
`overhanging obstacle.
`
`Also included may be a right obstacle detection sensor
`
`facing in a direction of between 25 and 50 degrees right of
`'the forward direction and between 25 and 35 degrees up frdm
`
`the forward direction.
`
`The right sensor provides a right
`
`overhang signal indicative of an overhanging obstacle.
`
`The robot decelerates to the low speed upon receipt of
`
`either overhang signal and continues at the slow speed until
`
`Silver Star Exhibit 1008 - 4
`
`Silver Star Exhibit 1008 - 4
`
`

`

`W0 '93/03399
`
`PCHVSE92/00544
`
`the first occurring of receipt of the contact signal or the
`known distance is traveled.
`
`The
`
`obstacle detection
`
`sensors may
`
`advantageously
`
`comprise the obstacle detecting assemblies described above.
`
`The system may also advantageously include a drop—off
`sensor facing in a downward direction.
`The drop-off sensor
`
`provides a drop—off
`
`(e.g.,
`
`a stair step downward)
`
`signal
`
`indicative of
`
`the presence of a drop-off, wherein the robot
`
`stops and reverses direction upon receipt of
`
`the drop—off
`
`signal.
`
`ll
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`24
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`BRIEF DESCRIPTION OF THE DRAWINGS
`
`FIG.
`invention.
`
`1 is a top plan view of an assembly according to the
`
`FIG. 2 is a front elevation View of an assembly according
`to the invention.
`
`is a schematic circuit diagram of an assembly
`3
`FIG.
`according to the invention.
`
`FIG. 4 is a top plan view diagram showing the orientation
`
`of
`
`the obstacle detection assemblies
`
`according
`
`to
`
`the
`
`invention in the forward portion of a vacuum cleaner robot.
`
`is a block diagram of a robot control
`5
`FIG.
`according to the invention.
`
`system
`
`FIG.
`
`6 is a flow chart diagram of a robot control system
`
`according to the invention.
`
`Silver Star Exhibit 1008 - 5
`
`Silver Star Exhibit 1008 - 5
`
`

`

`VVII93l03399
`
`PCJVSE92/00544
`
`DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
`
`mflmmpww
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`34
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`Referring to FIGS.
`
`1
`
`and 2,
`
`an obstacle detecting
`
`assembly 10 is shown.
`
`A narrow—beam LED 12 having a beam
`
`angle A is mounted to a printed—circuit board 14 such that,
`
`when energized,
`
`the
`
`axis of
`
`the beam of
`
`the LED 12
`
`is
`
`projected in a forward and horizontal direction.
`
`Similarly,
`
`a wide-beam LED 16 having a beam angle B is mounted to the
`
`board 14 such that, when energized,
`
`the axis of the beam of
`
`the LED 16 is projected in.a forward and horizontal direction.
`
`For example,
`
`the angle A may be 16 degrees and the angle B may
`
`be 80 degrees.
`
`The LED 12 may be,
`
`for example,
`
`a Siemens
`
`SFH-484 and the LED 16 a Siemens SFH—485P.
`
`A light detector 18 is mounted on the board 14 between
`
`the LED 12 and the LED 16.
`
`The detector 18 has an acceptance
`
`angle C about
`
`the same as
`
`the angle B and an beam axis
`
`parallel to those of the LED 12 and the LED 16.
`
`In the preferred embodiment the light detector 18 is an
`
`integrated package that includes a modulation pulse circuit
`
`to control an LED and a demodulation circuit to detect light
`
`in synchronism with the pulse circuit while rejecting ambient
`
`light.
`
`The light detector 18 may be,
`
`for example, a Sharp
`
`IS441F.
`
`A light—blocking wall 20 is mounted on the board 14
`
`between the LED 12 and the light detector 18 to prevent light
`
`from the LED 12 from impinging directly on the light detector
`
`18.
`
`Similarly, a light—blocking wall 22 is mounted on the
`
`board 14 between the LED 16 and the light detector 18.
`
`Referring to FIG. 3, a schematic diagram of the obstacle
`
`detecting assembly 10 is shown. The power terminal 24 of the
`
`light detector 18 is connected to a power source +V (e.g~, 15
`volts).
`A capacitor 26 (e.g., 100 microfarads, 10 volts) is
`connected between +V and ground.
`One terminal of a resistor
`
`28 (e.g., 2 ohms) is also connected to +V. The other terminal
`
`of the resistor 28 is connected to the anode of the LED 12.
`
`The cathode of
`
`the LED 12 is connected to the anode of
`
`Silver Star Exhibit 1008 - 6
`
`Silver Star Exhibit 1008 - 6
`
`

`

`
`
`WO '93/03399
`
`PCTlSE92/00544
`
`the LED 16.
`
`The cathode of
`
`the LED 16 is connected to the
`
`emitter of
`
`a pnp transistor
`
`30.
`
`The collector of
`
`the
`
`transistor
`
`30
`
`is
`
`connected to ground.
`
`The base of
`
`the
`
`transistor 30 is connected to one terminal of a resistor 32
`
`(e.g., 1,000 ohms).
`
`The other terminal of the resistor 32 is
`
`connected to the modulator output
`
`terminal 34 of the light
`
`detector 18.
`
`The common terminal 36 of the light detector is connected
`
`to ground. The output of the light detector 18 appears on the
`
`detector output
`
`terminal 38.
`
`In operation,
`
`the light detector 18 provides a periodic
`
`pulse train (e.g., a few microseconds out of each fraction of
`
`a millisecond)
`
`from the modulator output terminal 34 to the
`
`base of
`
`the
`
`transistor 30.
`
`This briefly turns
`
`on
`
`the
`
`transistor 30, allowing current to flow th:
`
`Jgh the LEDs 12,
`
`16.
`
`The capacitor 26 stores energy from +V during the time
`
`the transistor 30 is off,
`
`then provides a large current (0.3
`
`amperes )
`
`through the LEDs 12,
`
`16 when the transistor 30 is
`
`pulsed.
`
`The resistor 28 limits current through the LEDs 12, 16.
`
`Because of the low duty cycle of the periodic pulse train from
`
`the modulator output terminal 34,
`
`the average current through
`
`the LEDs 12,
`
`16 is low (e.g., 15 milliamperes).
`
`When current
`
`flows through the LEDs 12,
`
`16,
`
`they emit
`
`light (e.g., at 880 nanometers).
`
`The LED 12 emits a narrow
`
`beam of light with a relatively large power density.
`
`On the
`
`other hand,
`
`the LED 16 emits a wide beam of
`
`light with a
`
`relatively small power density.
`
`When light from the LEDs 12,
`
`16 strikes an obstacle, a
`
`portion of the light is reflected back to the light detector
`18.
`When
`this reflected light
`is detected by the light
`
`the light detector 18 provides a voltage on the
`detector 18,
`terminal 38 indicative thereof.
`
`Because of its larger power density,
`
`the beam from the
`
`LED 12 has a greater range than that of the LED 16, but it
`
`provides a limited field of view. Conversely,
`
`the LED 1 has
`
`Silver Star Exhibit 1008 - 7
`
`Silver Star Exhibit 1008 - 7
`
`

`

`\VT)93/03399
`
`PCT/SE92/00544
`
`03014:me
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`'4
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`(0CO
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`a shorter range, but a much wider field of view.r
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`By combining the LEDs 12, 16, both good range and wide
`
`coverage are providedJ
`
`The
`
`LED 12 provides
`
`light
`
`for
`
`detecting distant obstacles and the LED 16 provides light for
`
`detecting proximate obstacles in a wide field of view.
`
`Referring to FIG. 4,
`
`the forward portion of a vacuum
`
`cleaner robot 100 is shown.
`
`A group of four forward obstacle
`
`detection sensors 101, 102, 103, 104 are arranged at the front
`
`of the robot 100. Each of the sensors 101, 102, 103, 104 has
`
`a forward—looking detection axis D, E, F, G,
`
`respectively.
`
`This arrangement provides effective coverage of the area in
`
`front of the robot 100.
`
`A left overhang obstacle detection sensor 105 is located
`
`at the left front corner of the robot 100. The sensor 105 has
`
`a detection axis H of between 25 and 50 degrees (e.g.,
`
`40
`
`degrees) left from the forward direction.
`
`In addition,
`
`the
`
`axis H is oriented from 25 to 35 degrees upward (e.g.,
`
`30
`
`degrees). The sensor 105 detects obstacles that the robot 100
`
`may be turning towards.
`
`In addition, the sensor 105 detects
`
`when the robot 100 starts under an overhanging obstacle such
`
`as a table or bed.
`
`A right overhang obstacle detection sensor 106 is located
`
`at the right front corner of the robot 100.
`
`The sensor 106
`
`has a detection axis I of between 25 and 50 degrees (e.g., 40
`
`degrees) right from the forward direction.
`
`In addition,
`
`the
`
`axis I is oriented from 25 to 35 degrees upward (e.g.,
`
`30
`
`degrees). The sensor 106 detects obstacles that the robot 100
`
`may be turning towards.
`
`In addition,
`
`the sensor 106 detects
`
`when the robot 100 starts under an overhanging obstacle such
`
`as a table or bed.
`
`Each of
`
`the
`
`sensors
`
`101,
`
`"102,
`
`103,
`
`104,
`
`105,
`
`108
`
`comprises an obstacle detecting assembly 10, except that the
`
`sensors 105, 106 have reduced sensitivity to allow the robot
`
`100 to run close to objects at its side, such as walls.
`
`The sensors 101, 102, 105 are connected to a left early
`
`warning signal terminal 108 and the sensors 103, 104, 106 are
`
`Silver Star Exhibit 1008 - 8
`
`Silver Star Exhibit 1008 - 8
`
`

`

`W0 93/03399
`
`PCT/SE92/00544
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`36
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`connected to'a right early warning signal terminal 110.
`
`The
`
`terminals
`
`108,
`
`110
`
`receive
`
`the
`
`signal
`
`from respective
`
`detection assembly 10 output terminals 38. By differentiating
`
`between right and left located obstacles the robot 100 may be
`
`programmed to steer around obstacles.
`A left drop-off sensor 116 is also located in the left
`
`front of the robot 100 and a right drop—off sensor 118 is also
`
`located in the right front of the robot 100. The sensors 116,
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`118 each have an unshown downward pointing LED and light
`
`detector 18.
`
`If the robot 100 encounters a downward step or
`
`other drop—off, no light is reflected to the light detector
`
`18 and the affected sensors 116,
`
`118 provide a signal
`
`to a
`
`left drop-off signal terminal 120 and a right drop—off signal
`
`terminal 122, respectively. Here,
`
`the function is reversed:
`
`no light reflected means stop the robot.
`
`A left contact sensor 124 is provided on the left forward
`
`and corner edges of the robot 100. When the contact sensor
`
`124 contacts an obstacle, a signal is provided to a contact
`
`signal
`
`terminal 126.
`
`A right contact sensor
`
`125 is provided on the right
`
`forward and corner edges of the robot 100. When the contact
`
`sensor 125 contacts an obstacle,
`
`a signal
`
`is provided to a
`
`contact signal terminal 127.
`
`Referring to FIG. 5, a control system for the robot 100
`
`is shown.
`
`A CPU 130 controls drive motors 132 under control
`
`of a program contained in a memory 134 and in response to the
`
`forward sensors 101, 102, 103, 104,
`
`the contact sensor 124,
`
`the overhang sensors 105, 106 and the drop-off sensors 116,
`
`118.
`
`The CPU 130 responds to signals on the terminals 108,
`
`110, 120, 122, 126, 127.
`
`Referring to FIG. 6, a flow chart diagram of the control
`
`.system for
`
`the robot
`
`100 is provided.
`
`The. robot 100
`
`is.
`
`travelling forward at normal speed (e.g.,
`
`1 foot/second) at
`
`the start of the diagram of FIG. 6.
`
`The CPU 130 checks the
`
`contact sensors 124, 125 and the drop-off sensors 116, 118 for
`
`signals indicating physical contact of the robot 100 with an
`
`Silver Star Exhibit 1008 - 9
`
`Silver Star Exhibit 1008 - 9
`
`

`

`WO' 93/03399
`
`PCT/SE92/00544
`
`1
`2
`3
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`5
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`If such a
`respectively.
`obstacle or an imminent drop—off,
`signal is received,
`the CPU 130 stops the drive motors 132
`(and additionally would back up the robot 100 and steer to
`
`avoid the problem).
`the CPU 130 checks
`If no contact or drop-off is sensed,
`the sensors 101, 102, 103, 104, 105, 106 for early warning of
`a remote obstacle (or overhang).
`If no early warning is
`received the CPU starts through the check of all the sensors
`124, 125, 116, 118, 101, 102, 103, 104, 105, 106 again.
`If an early warning is received the CPU 130 slows the
`drive motors 132 to slow speed (e.g.,
`10 to 15 percent of
`normal speed).
`The robot 100 then continues at this slow
`speed until: contact. with, an obstacle produces
`a. contact
`ft contact sensor 124 or the right
`signal from either the le
`a drop-off is detected by the drop—off
`
`15
`16
`
`contact sensor 125;
`sensors 116, 118; or the robot 100 has travelled a distance
`Upon the first happening of contact, drop—
`1 foot).
`X (e.g.,
`17
`off or the distance X travelled,
`18
`the CPU 130 stops the drive
`19 motors 132 (and additionally would back up the robot 100 and
`
`20
`21
`22
`23
`24
`25
`
`steer to avoid the problem).
`The operation of
`the robot 100 at slow speed in the
`vicinity of obstacles minimize the chance of the robot 100
`damaging itself or the obstacle when contact is finally made.
`This not only allows rapid operation for most of the time, but
`also allows the robot 100 to clean as close to obstacles as
`
`touching) without damage.
`possible (i.e.
`26
`It should be evident that this disclosure is by way of
`27
`example and that various changes may be made by adding,
`28
`29 modifying or eliminating details without departing from the
`30
`fair scope of the teaching contained in this disclosure.
`The
`31
`invention is therefore not limited to particular details of
`
`32
`
`33
`
`this disclosure except to the extent that the following claims
`
`are necessarily so limited.
`
`Silver Star Exhibit 1008 - 10
`
`Silver Star Exhibit 1008 - 10
`
`

`

`wo 93/032499
`
`PCT/SE92/00544
`
`WHAT IS CLAIMED IS:
`
`1.
`
`An obstacle detecting assembly comprising:
`
`a first light source having a narrow beam;
`
`a second light source having a wide beam;
`
`a
`
`light detecting means,
`
`said light detecting means
`
`providing a signal
`and
`
`in response to detected light;
`
`a control means,
`
`said control means
`
`intermittently
`
`activatingsaid light sources, receiving said signal
`
`when a distant obstacle within said narrow beam
`
`reflects light from said first source to said light
`
`detecting means and receiving said signal when a
`
`proximate obstacle within said wide beam reflects
`
`light from said second light source to said light
`
`detecting means.
`
`2. An assembly according to claim 1, further comprising:
`
`a first light blocking means located between said first
`
`light source and said light sensing means,
`
`said
`
`first
`
`light blocking means blocking said light
`
`detecting means from said first light source; and
`
`a second light blocking means located between said second
`
`light source and said light sensing means,
`
`said
`
`second light blocking means blocking said light
`
`detecting means from said second light source.
`
`3.
`
`An obstacle detecting assembly comprising:
`
`a mounting member;
`
`Silver Star Exhibit 1008 - 11
`
`(DODMCD0'1pr
`
`[‘0
`
`Silver Star Exhibit 1008 - 11
`
`

`

`wo 93/03399
`
`PCHYSE92/00544
`
`-10-
`
`a first light source having a narrow beam, said first
`
`light source being attached to said mounting member
`and being oriented with said narrow beam in a known
`
`T)
`
`direction;
`
`a second light source having a wide beam, said second
`
`light source being attached to said mounting member
`and being oriented.with said.wide beam in said known
`
`direction;
`
`a light detecting means having a wide acceptance angle,
`
`said light detecting means being attached to said
`
`mounting member and being oriented with said wide
`
`acceptance angle
`
`in said known direction and
`
`providing a signal in response to detected light;
`
`a first light blocking means, said first blocking means
`
`being attached to said mounting member and oriented
`
`to block said first light source from said light
`
`detecting means;
`
`a second light blocking means, said second blocking means
`
`being attached to said mounting member and oriented
`
`to block said second light source from said light
`
`detecting means; and
`
`a control means,
`
`said control means
`
`intermittently
`
`activating said light sources, receiving said signal
`
`when a distant obstacle within said narrow beam
`
`reflects light from said first source to said light
`
`detecting means and receiving said signal when a
`
`proximate obstacle within said wide beam reflects
`light from said second light source to said light
`
`detecting means.
`
`Silver Star Exhibit 1008 - 12
`
`n?!(.0
`
`(301
`
`11
`
`12
`
`13
`
`14
`
`15
`
`16
`
`17
`
`18
`
`19
`
`20
`
`21
`
`22
`
`23
`
`24
`
`26
`
`27
`
`28
`
`29
`
`30
`
`31
`
`Silver Star Exhibit 1008 - 12
`
`

`

`W0 93/03399
`
`PCI‘/SE92/00544
`
`-11-
`
`4.
`
`A robot control system for enabling a robot to avoid
`
`obstacles comprising:
`
`a plurality of forward obstacle detection sensors facing
`in a
`forward direction,
`said forward obstacle
`
`detection sensors providing an early warning signal
`
`indicative of the remote presence of an obstacle;
`
`a forward contact sensor, said contact sensor providing
`
`a contact signal indicative of said robot contacting
`
`an obstacle;
`
`a control means adapted to receive said signals from said
`
`sensors; and
`
`a drive means adapted to propel said robot
`
`in response
`
`to
`
`said
`
`control means, wherein
`
`said
`
`robot
`
`decelerates to a low speed upon receipt of said
`
`early warning signal
`
`and continues at said slow
`
`speed until the first occurring of receipt of said
`
`contact signal or a known distance is traveled.
`
`5.
`
`A robot control system according to claim 4, further
`
`comprising:
`
`a left obstacle detection sensor f sing in a direction
`
`of between 25 and 50 degrees left of said forward
`
`direction and between 25 and 35 degrees up from said
`
`forward direction, said left sensor providing a left
`
`overhang
`
`signal
`
`indicative
`
`of
`
`an
`
`overhanging
`
`obstacle; and
`
`a right obstacle detection sensor.facing in a direction
`
`of between 25 and 50 degrees right of said forward
`
`direction and between 25 and 35 degrees up from said
`
`forward direction,
`
`said right sensor providing a
`
`Silver Star Exhibit 1008 - 13
`
`ED
`
`03014.50.)
`
`\3
`
`10
`
`11
`
`12
`
`13
`
`14
`
`15
`
`16
`
`nI
`
`N
`
`(30‘1030142-03
`
`10
`
`11
`
`12
`
`Silver Star Exhibit 1008 - 13
`
`

`

`wo 93/03399
`
`PCT/SE92/00544
`
`13
`
`14
`
`15
`
`16
`
`17
`
`18
`
`right overhang signal indicative of an overhanging
`obstacle, wherein.said robot decelerates to the low
`speed upon receipt of either overhang signal and
`continues at
`said slow speed until
`the
`first
`
`occurring of receipt of said contact signal or the
`
`known distance is traveled.
`
`6.
`
`A robot control system according to claim 4, wherein
`
`said obstacle detection sensors comprise:
`
`a first light source having a narrow beam;
`
`a second light source having a wide beam; and
`
`a light. detecting means,
`
`said light detecting means
`
`providing said early warning signal in response to
`
`detected.
`
`light, wherein
`
`said
`
`control means
`
`intermittently activates
`
`said
`
`light
`
`sources,
`
`receives said early warning signal when a distant
`
`obstacle within said narrow beam reflects light
`
`from said first source to said light detecting means
`
`and receives said signal when a proximate remote
`
`obstacle within said wide beam reflects light from
`
`said second light source to said light detecting
`
`means .
`
`'1'
`l
`
`.
`
`A robot control system according to claim 4, further
`
`V»)
`
`mane:
`
`comprising a drop-off sensor facing in a downward direction,
`
`said drop—off sensor providing a drop—off signal
`
`indicative
`
`of the presence of a drop-off, wherein said robot stops and
`
`reverses direction upon receipt of said drop-off signal.
`
`Silver Star Exhibit 1008 - 14
`
`Silver Star Exhibit 1008 - 14
`
`

`

`W0 93/03399
`
`1/4
`
`PCI'/SE92/00544
`
`
`
`Silver Star Exhibit 1008 - 15
`
`Silver Star Exhibit 1008 - 15
`
`

`

`w0'93/03399
`
`2/4
`
`Pcr/SE92/00544
`
`
`
`Silvei Star Exhibit 1008 - 16
`
`Silver Star Exhibit 1008 - 16
`
`

`

`W0. 93/03399
`
`3/4
`
`PCT/SE92/00544
`
`
`FORW$RD
`
`CONTACT
`
`
`
`
`OPNCAL
`OBSTACLE
`SENSORS
`
`SENSORS
`
`13%
`
`130
`
`132
`
`OVERHEAD
`OPUCAL
`OBSTACLE
`SENSORS
`
`
`
`
`DROP—OFF
`OPWCAL
`SENSORS
`
`Silver Star Exhibit 1008 - 17
`
`Silver Star Exhibit 1008 - 17
`
`

`

`
`
`w0'93/03399
`
`4/4
`
`PCF/SE92/00544
`
`CONTACT
`OR
`DROP—OFF
`
`
`OBngACLE
`OVERHANG
`
`START
`
`
`
`
`
`SLOW MOTORS
`
`
`
`
`CONTACT
`OR
`DROP-OFF
`
`?
`
`
`
`STOP MOTORS
`
`Silver Star Exhibit 1008 - 18
`
`Silver Star Exhibit 1008 - 18
`
`

`

`INTERNATWONAL SEARCH REPORT
`
`International Application No PCT/SE 92/00544
`I. CLASSIFICATION OF SUBJECT MATTER (it several classification symbols apply, indicate all)6
`According to International Patent Classification (IPC) or to both National Classification and lPC
`
`
`
`IPCS: G 01 S 17/88, G 05 D 1/02
`
`
`
`Minimum Documentation Searched7
`
`Classification System
`Classification Symbols
`
`
`
`II. FIELDS SEARCH ED
`
` IPCS
`
`
`G 01 S; G 05 D; G 08 G; B 60 T
`Documentation Searched other than Minimum Documentation
`to the Extent that such Documents are Included in Fields Searched8
`
`SE,DK,FI,N0 classes as above
`
`m. oocumems cousmeneo To BE RELEVANT9
`
`
`
`Relevant to Claim No.13
`Citation of Document,"1 with indication, where appropriate, of the relevant passages”
`
`
`
`Patent Abstracts of Japan, Vol 9, No 64, P343,
`
`
`abstract of JP 59-198377, pubI 1984-11-10
`
`NIPPON JIDOSHA BUHIN SDGO KENKYUSHO K.K.
`
`
`
`line 48 -
`
`US, A, 5023790 (WALTER LUKE, JR)
`
`11 June 1991, see
`column 5,
`
`line 68;
`figure 2
`
`
`
`
`
`US, A, 4530056 (ALLAN S. MACKINNON ET AL)
`
`16 July 1985, see
`column 9,
`line 1 -
`line 19
`
` US, A, 4996468 (BRUCE F. FIELD ET AL)
`
`
`column 7,
`26 February 1991, see
`line 11 - line 56;
`figures 1,7
`
`
`
` " Special categories of cited documents: 1°
`"T' later,document published alter the international filing date
`wu
`he application but
`.
`.
`.
`.
`. .
`or pnority date and not m,contlict
`th t
`'
`A docu ent dellnln the eneml state of the art which IS not
`
`
`consigered to be g, pa Icular relevance
`fgsgtfogndetstand the princmle or theory underlying the
`
`
`”E” earlier document but published on or after the international
`'
`"X' document of a icuIar relevance the claime invention
`
`
`
`"lmg date
`cannot be con-I’srrdered novel or cannot be consdidered to
`
`
`cla'im(s hor
`"L" dolcuilnent whcilc'h ma l:II‘LroP‘MtgouIztslpn Prior:l
`involve an inventive step
`w 'c Is a e
`0 es 3
`'5
`e pub ma '0" a e 0 one er
`”Y” document at particular relevance, the claimed invention
`
`
`“who" or other spectal reason (as specmed)
`cannot be considered to involve an Inventive step when the
`
`
`
`figflgegaéfi gggglggl‘ifl'gefl; ggv'flzrfggegeiggg giffléd
`”0" document relerring to an oral disclosure, use, exhibition or
`other means
`in the art.
`
`
`
`
`
`ffigfl‘fgfi
`fig'fif‘o‘i‘wfigg‘glmfingfi”mamna' filing date but
`”8:” document member at the same patient family
`P
`IV. CERTIFICATION
`.
`
`
`Date of the Actual Completion of the International Search
`Date of Mailing of this International Search Report
`2nd November 1992
`04 '11- 1992
`
`
`
`International Searching Authority
`Signature ol Authorized OIticer
`
`£32m Vaé-mwuw
`
`
`
`
`
`GfiRAN MAGNUSSON
`S
`EDISH PATENT OEEFCE
`10 second sheet)
`
`Silver Star Exhibit 1008 - 19
`
`Silver Star Exhibit 1008 - 19
`
`

`

`Ill- DOCUMENTS CONSIDERED TO BE RELEVANT
`
`CONTINUED FROM THE SECOND SHEET
`
`Calegury'
`
`cilalinn of Document. with indicalian. where appmpriate, a! the relevant passages
`
`Relevant lo Claim No
`
`lnlemaliunal Application No. PCT/SE 92/00544
`
`1&7
`
`I)
`
`A
`
`ND, AI, 8807711 (FRAUNHOFER GESELLSCHAFT ZUR
`FfiRDERUNG DER ANGEWANDTEN FORSCHUNG E.V.)
`6 October 1988, see page 24,
`line 13 -
`page 27,
`line 24-;
`
`figure 1
`
`For. PCT/Isuzu (extra sheet) (January 1935)
`
`Silver Star Exhibit 1008 - 20
`
`Silver Star Exhibit 1008 - 20
`
`

`

`ANNEX TO THEINTERNAJWONAL.SEARCH REPORT
`
`ON INTERNATIONAL PATENT APPLICATION NO.PCT/SE 92/00544
`
`This annex lists the patent family members relating to the patent documents cited in the above-mentio ed international search report.
`The memhers are as contained in the Swedish Patent Office EDP tile on
`7
`The Swedtsh Patent Office is in no way liable for these particulars which are merely given for the purpose of information.
`mg
`
`Publication
`date
`
`US-A-
`
`5023790
`
`US-A-
`
`4530056
`
`US-A-
`
`4996468
`
`WO-Al- 8807711
`
`88-10-06
`
`91-01-10
`
`0309962
`1159708
`4790402
`4846297
`
`3709627
`0378528
`3500098
`
`89-04-05
`89-06-22
`88-12-13
`89-07-11
`
`88-10-13
`90-07-25
`
`Silver Star Exhibit 1008 - 21
`
`Silver Star Exhibit 1008 - 21
`
`