Abstract: An autonomous surface cleaning apparatus includes a body including a chassis and an outer shell mounted to the chassis, a drive system carried by the body, a cleaning assembly projecting forward beyond a front surface of the outer shell, the cleaning assembly having a generally planar front surface, and a forward bumper mounted to the front surface of the cleaning assembly. The apparatus further includes a plurality of forwardmost contact sensors disposed behind the forward bumper and arranged to detect displacement of the forward bumper relative to the cleaning assembly, a first plurality of shell contact sensors each being arranged to detect longitudinal displacement of the outer shell relative, and a second plurality of shell contact sensors each being arranged to detect lateral displacement of the outer shell relative to both the chassis and the cleaning assembly.

Abstract: There is provided a mobile robot including a chassis, a drive system, and a collision detection system. The collision detection system includes first and second parts of the mobile robot, the first and second body parts being disconnected and moveable relative to the chassis in response to a collision with an object, and first and second sensors configured to sense relative movement between the chassis and the first and second body parts respectively and, in a collision event, to send a control signal causing the drive system to take corrective action. The mass of the second body part is substantially lower than the mass of the first body part.

Abstract: This invention relates to a proximity sensor. An illumination means (2) projects an array of spots (40) towards a scene. Detector (8) looks towards the scene through a mask (6). The mask (6) is arranged such that light from a target at a certain range, for instance far object (14) is not transmitted to the detector. Light reflected from a close object (16) however passes through the mask (6) and is incident on the detector (8). A rise in the intensity of incident light at the detector (8) is determined by threshold detector (10) and used to operate an alarm (12).

Abstract: The present invention relates to a movement control system which can be used to control moving platforms such as vehicles or robotic arms. It especially applies to a driving aid for vehicles and to a parking aid capable of self-parking a vehicle. A three-dimensional camera (12) is located on the platform, say a car (102) and arranged to view (114) the environment around the platform. A processor (7) uses the three-dimensional information to create a model of the environment which is used to generate a movement control signal. Preferably the platform moves relative to the environment and acquires a plurality of images of the environment from different positions.

Abstract: This invention relates to a proximity sensor. An illumination means (2) projects an array of spots (40) towards a scene. Detector (8) looks towards the scene through a mask (6). The mask (6) is arranged such that light from a target at a certain range, for instance far object (14) is not transmitted to the detector. Light reflected from a close object (16) however passes through the mask (6) and is incident on the detector (8). A rise in the intensity of incident light at the detector (8) is determined by threshold detector (10) and used to operate an alarm (12).

Abstract: This invention relates to an illumination means for illuminating a scene with a two dimensional pattern of intensity, such as an array of distinct spots or array of lines. A light source (4) such as an LED is arranged to illuminate the input face of a light guide (6), either directly or through a mask. The light guide comprises a solid or hollow tube, generally of a constant, regular cross section which is arranged to create multiple images of the light source. Projection optics (8) is arranged to project the array towards the scene with a larger depth of field than conventional techniques.

Abstract: This invention relates to a ranging apparatus capable of ranging simultaneously to a three dimensional scene. An illumination means (22) illuminates a scene with a two dimensional array of spots (12). A detector (6) is located near to the illumination means (22) and arranged to look toward the scene. A processor (7) responds to the output from the detector (6) and, from the location of a spot in the image of the scene, determines the range to that spot. A variety of techniques are used to resolve ambiguity in determining which projected spot is being considered.