JPH0752104B2 - Reflective photoelectric switch - Google Patents
Reflective photoelectric switchInfo
- Publication number
- JPH0752104B2 JPH0752104B2 JP60211315A JP21131585A JPH0752104B2 JP H0752104 B2 JPH0752104 B2 JP H0752104B2 JP 60211315 A JP60211315 A JP 60211315A JP 21131585 A JP21131585 A JP 21131585A JP H0752104 B2 JPH0752104 B2 JP H0752104B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- detection area
- optical system
- distance
- detected object
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Geophysics And Detection Of Objects (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【発明の詳細な説明】 ［技術分野］ 本発明は、投光手段から検知エリアに投光される光ビー
ムの被検知物体による反射光を受光手段にて受光し、受
光手段出力に基いて検知エリア内の被検知物体の有無を
検知するようにした反射型光電スイッチに関するもので
ある。TECHNICAL FIELD The present invention receives light reflected by an object to be detected of a light beam projected from a light projecting unit onto a detection area by a light receiving unit, and detects the light based on the output of the light receiving unit. The present invention relates to a reflective photoelectric switch adapted to detect the presence or absence of a detected object in an area.
［背景技術］ 従来、この種の反射型光電スイッチとして、投光手段か
ら検知エリアに投光した光の被検知物体による反射光を
受光手段にて受光し、被検知物体からの反射光量の大小
によって被検知物体の有無を判定するようにしたものが
あり、このような反射型光電スイッチにあっては、被検
知物体の後方に高反射率の物体がある場合や被検知物体
の反射率が異なる場合などにおいて測距誤差が生じて誤
動作が発生（検知距離が変化）するという問題があっ
た。そこで、このような誤動作を防止するようにした反
射型光電スイッチとして、発明者らが特願昭58−14163
号として出願している三角測量方式のものがある。すな
わち、この反射型光電スイッチは第３図および第４図に
示すようになっており、被検知物体Ｘに対して光ビーム
Ｐを投光する投光手段１は、投光タイミングを設定する
クロックパルスを発生する発振回路10、投光用発光素子
12を駆動するドライブ回路11および凸レンズよりなる投
光用光学系13にて形成されており、投光用発光素子12か
ら発せられる光を投光用光学手段13にて光ビームＰに成
形して検知エリアに投光するようになっている。この投
光手段１から所定距離l0をもって測方に配設され被検知
物体Ｘによる光ビームＰの反射光Ｒを集光する受光用光
学系２は凸レンズにて形成されている。この受光用光学
系２の集光面に配設され集光スポットＳの位置（被検知
物体Ｘまでの距離に応じて第３図の上下方向に移動す
る）に対応した位置信号IA,IBを出力する位置検出手段
４は、例えば１次元位置検出素子（PSD）にて形成され
ており、この素子から出力される位置信号IA,IBは集光
スポットＳの位置に応じて一方が大きくなると他方が小
さくなる（このように、一対の信号の一方が大きくなる
と他方が小さくなることを、以下では「相反する」とい
う）。この位置検出手段４出力に基いて被検知物体Ｘが
所定の検知エリア内に存在するかどうかを判別して出力
回路６を制御する判別制御手段５は、位置検出手段４か
ら出力される位置信号（相反する電流信号IA,IB）をそ
れぞれ増幅して電圧信号VA,VBに変換する受光回路21a,2
1bと、受光回路21a,21b出力を対数増幅する対数増幅回
路22a,22bと、対数増幅回路22a,22b出力lnVA,lnVBの差
を演算する減算回路23と、減算回路23出力lnVA/VBと距
離設定用ボリュームVRにて設定される基準電圧Vsとを比
較して、減算回路23出力lnVA/VBが第６図に示すように
基準電圧Vs以下のとき（被検知物体Ｘが検知エリア内に
存在するとき）に出力が“H"レベルとなる電圧コンパレ
ータよりなる比較回路24と、比較回路24出力を発振回路
10出力に基いてチェック（クロックパルスに同期してレ
ベルを判定）することにより誤動作を防止する信号処理
回路25とで形成されており、上記信号処理回路25から物
体検知信号が出力されたとき、出力回路６が駆動される
ようになっている。なお、第５図（ａ）（ｂ）（ｃ）
は、それぞれ被検知物体Ｘまでの距離がl1,l2,l3である
場合における位置検出手段４上の集光スポットＳの位置
をそれぞれ示している。また、上述の１次元位置検出素
子に代えて２個のフォトダイオードを連設したものを位
置検出手段４として用いても良いことは言うまでもな
い。[Background Art] Conventionally, as a reflection type photoelectric switch of this type, the light received by the detection object of the light projected from the projection means to the detection area is received by the detection object, and the amount of light reflected from the detection object is large or small. There is one that determines the presence or absence of the detected object by such a reflective photoelectric switch, and in such a reflective photoelectric switch, when there is an object with a high reflectance behind the detected object or the reflectance of the detected object is There is a problem that a distance measurement error occurs in a different case and a malfunction occurs (the detection distance changes). Therefore, as a reflection type photoelectric switch designed to prevent such a malfunction, the inventors of the present invention have proposed Japanese Patent Application No. 58-14163.
There is a triangulation method that we have applied for as an issue. That is, this reflection type photoelectric switch is as shown in FIG. 3 and FIG. Oscillation circuit 10 for generating pulses, light emitting element for light emission
It is formed by a light projecting optical system 13 composed of a drive circuit 11 for driving 12 and a convex lens, and the light emitted from the light projecting light emitting element 12 is formed into a light beam P by the projecting optical means 13. It is designed to project light onto the detection area. The light receiving optical system 2 which is arranged in a measuring direction at a predetermined distance l 0 from the light projecting means 1 and collects the reflected light R of the light beam P from the detected object X is formed by a convex lens. Position signals I A , I corresponding to the position of the focused spot S (moving in the vertical direction in FIG. 3 according to the distance to the detected object X) provided on the focusing surface of the light receiving optical system 2 The position detecting means 4 that outputs B is formed of, for example, a one-dimensional position detecting element (PSD), and the position signals I A and I B output from this element are either one of the one depending on the position of the focused spot S. Is larger, the other is smaller (in this way, when one of the pair of signals is larger, the other is smaller, it is referred to as “opposite” below). Based on the output of the position detection means 4, the discrimination control means 5 that discriminates whether or not the detected object X exists in a predetermined detection area and controls the output circuit 6, is a position signal output from the position detection means 4. Light receiving circuits 21a, 2 for amplifying (reciprocal current signals I A , I B ) and converting them into voltage signals V A , V B , respectively
1b, a logarithmic amplification circuit 22a, 22b for logarithmically amplifying the output of the light receiving circuit 21a, 21b, a subtraction circuit 23 for calculating the difference between the logarithmic amplification circuit 22a, 22b outputs lnV A , lnV B , and a subtraction circuit 23 output lnV A / When V B and the reference voltage Vs set by the distance setting potentiometer VR are compared, the subtraction circuit 23 output lnV A / V B is equal to or lower than the reference voltage Vs as shown in FIG. The output of the comparator circuit 24, which consists of a voltage comparator whose output becomes "H" level when the
It is formed by a signal processing circuit 25 that prevents malfunctions by checking (determining the level in synchronization with a clock pulse) based on 10 outputs, and when an object detection signal is output from the signal processing circuit 25, The output circuit 6 is driven. In addition, FIG. 5 (a) (b) (c)
Indicates the positions of the focused spots S on the position detecting means 4 when the distances to the detected object X are l 1 , l 2 and l 3 , respectively. Further, it goes without saying that the one-dimensional position detecting element described above may be replaced with one provided with two photodiodes as the position detecting means 4.
ここに、この従来例にあっては、判別制御手段５は、集
光スポットＳの位置を位置検出手段４にて検出して被検
知物体Ｘが検知エリア内に存在するかどうかを判別して
いるので、反射光Ｒのレベルに関係なく検知動作を行う
ことができ、被検知物体Ｘの後方に高反射率の物体があ
ったり、被検知物体Ｘの反射率が変化した場合にあって
も誤動作が生じない（測距誤差が生じない）ようになっ
ている。ところで、このような従来例において、距離設
定用ボリュームVRによって基準電圧Vsを変えて検知エリ
アを電気的に変更できるようになっているが、測距精度
を低くすることなく測距範囲を広くすることができず、
検知エリアの大幅な変更ができないという問題があっ
た。すなわち、測距方式を三角測量方式としたこの種の
反射型光電スイッチにおける測距精度は、測距可能距離
範囲Ｌと、被検知物体Ｘが上記測距可能距離範囲Ｌだけ
移動したときの位置検出手段４上での集光スポットＳの
移動量Ｍとの比L/Mによって決まり、この比L/Mが小さい
ほど測距精度が高くなる。ここに、測距精度を低くする
ことなく測距可能範囲Ｌを広くしようとした場合、位置
検出手段４として受光部の有効長lpが長い１次元位置検
出素子を用いて集光スポットＳの移動量Ｍを大きくする
ことが考えられるが、有効長lpを長くすることは位置検
出手段４たる１次元位置検出素子の量子ノイズが増加
（特に集光スポットＳが微弱光になる場合に顕著に増
加）したり、応答スピードが遅くなってしまうという不
都合があり、測距精度を低くすることなく、測距可能範
囲すなわち検知距離の変更可能範囲を広げることができ
ず、検知エリアを大幅に変更することができないという
問題があった。Here, in this conventional example, the determination control means 5 detects the position of the focused spot S by the position detection means 4 and determines whether or not the detected object X exists in the detection area. Therefore, the detection operation can be performed regardless of the level of the reflected light R, and even when there is an object having a high reflectance behind the detected object X or the reflectance of the detected object X changes. No malfunction occurs (distance measurement error does not occur). By the way, in such a conventional example, it is possible to electrically change the detection area by changing the reference voltage Vs by the distance setting volume VR, but the distance measuring range is widened without lowering the distance measuring accuracy. I can't
There was a problem that the detection area could not be changed significantly. That is, the distance measurement accuracy in this type of reflective photoelectric switch in which the distance measurement method is the triangulation method is as follows: the distance measurement possible distance range L and the position when the detected object X moves by the distance measurement possible distance range L. It is determined by the ratio L / M with the movement amount M of the focused spot S on the detecting means 4, and the smaller the ratio L / M, the higher the distance measuring accuracy. Here, when it is attempted to widen the range-finding range L without lowering the range-finding accuracy, a one-dimensional position detecting element having a long effective length lp of the light receiving section is used as the position detecting means 4 to move the focused spot S. Although it is conceivable to increase the amount M, increasing the effective length l p increases the quantum noise of the one-dimensional position detecting element which is the position detecting means 4 (especially when the focused spot S becomes weak light). However, there is the inconvenience of slowing down the response speed and increasing the response speed, and it is not possible to widen the range that can be measured, that is, the range in which the detection distance can be changed without lowering the accuracy of distance measurement, and the detection area is changed significantly. There was a problem that I could not do it.
［発明の目的］ 本発明は上記の点に鑑みて為されたものであり、その目
的とするところは、測距精度を低くすることなく測距可
能範囲を広くすることができ、検知エリアを大幅に変更
できるようにした反射型光電スイッチを提供することに
ある。[Object of the Invention] The present invention has been made in view of the above points, and an object of the present invention is to make it possible to widen the range-finding range without lowering the range-finding accuracy and to increase the detection area. An object of the present invention is to provide a reflective photoelectric switch that can be changed significantly.
［発明の開示］ （実施例１） 第１図および第２図はさらに他の実施例を示すもので、
従来例と同様の反射型光電スイッチにおいて、１枚の凸
レンズよりなる受光用光学系２を第１図に上下方向の矢
印ｍで示すように投光用光学系13との距離が可変となる
ように移動自在にして光学的相対位置（投光用発光素子
12、投光用光学系13、受光用光学系２および位置検出手
段４の相対位置）を変化させることにより検知エリアと
なる距離範囲を設定する検知エリア設定手段を設け、一
対の相反信号である位置信号VA,VBの大小を比較回路24a
にて比較し、被検知物体が検知エリア設定手段により設
定した検知エリア内に存在するかどうかを判別するよう
に判別制御手段５を形成したものである。なお、従来例
の必須構成である判別制御手段５の距離設定用ボリュー
ムVRは不要である。DISCLOSURE OF THE INVENTION (Embodiment 1) FIGS. 1 and 2 show still another embodiment.
In the same reflection type photoelectric switch as in the conventional example, the distance between the light receiving optical system 2 composed of one convex lens and the light projecting optical system 13 is variable as shown by the vertical arrow m in FIG. The optical relative position (light emitting element for light projection)
12, a relative area of the light projecting optical system 13, the light receiving optical system 2 and the position detecting means 4) is provided to provide a detection area setting means for setting a distance range serving as a detection area. Comparison circuit 24a comparing the magnitude of position signals V A and V B
And the discrimination control means 5 is formed so as to discriminate whether or not the detected object exists within the detection area set by the detection area setting means. The distance setting volume VR of the discrimination control means 5, which is an essential configuration of the conventional example, is unnecessary.
ここに、本実施例にあっては、位置検出手段４たる１次
元位置検出素子の有効長lpを従来例のように長くするこ
となく同一長の位置検出手段４を用いて測距可能範囲を
広げる（シフトさせる）ことができ、測距精度を低くせ
ずに測距可能範囲を広くすることができ、検知能力を低
下させることなく検知エリアを大幅に変更できるように
なっている。Here, in the present embodiment, the distance measuring range is determined by using the position detecting means 4 having the same length without increasing the effective length lp of the one-dimensional position detecting element which is the position detecting means 4 as in the conventional example. It can be widened (shifted), the range that can be measured can be widened without lowering the accuracy of distance measurement, and the detection area can be significantly changed without lowering the detection capability.
ここに、位置検出信号IA,IBが同一値になる距離（受光
用光学系２が第１図の破線の位置では距離la、第１図の
実線の位置では距離lb）を、検知エリアの遠点とし、従
来例における第４図に示す回路例の判別制御手段５の対
数増幅回路22a,22bおよび減算回路23を省略して、第２
図に示すように受光回路21a,21b出力VA、VBを直接比較
回路24にて比較し、その大小によって検知エリア内に被
検知物体Ｘが存在するかどうかを判別するようにしてい
るので、回路構成が簡単になってコストを安くできるこ
とになる。Here, the distance at which the position detection signals I A and I B have the same value (distance la at the position where the light receiving optical system 2 is the broken line in FIG. 1 and distance lb at the position shown by the solid line in FIG. 1) is the detection area. , The logarithmic amplifier circuits 22a and 22b and the subtraction circuit 23 of the discrimination control means 5 of the circuit example shown in FIG.
As shown in the figure, the outputs V A and V B of the light receiving circuits 21a and 21b are directly compared by the comparison circuit 24, and it is determined whether or not the detected object X exists in the detection area according to the size. , The circuit configuration becomes simple and the cost can be reduced.
さらにまた、位置検出手段４の受光範囲の中心が検知距
離すなわち検知エリアの遠点に対応するので、従来例の
ように、距離設定用ボリュームVRの調整範囲と、位置検
出手段４の位置および受光範囲との整合（信号処理回路
の飽和が生じても安全側に動作させるように検知距離の
近限点が設定されるように位置検出手段４の位置、距離
設定用ボリュームVRの調整範囲を設定したり、距離設定
用ボリュームVRの距離目盛と検知エリアの遠点とを対応
させる）を行うための調整作業を必要とせず、受光用光
学系２の位置を調整するだけで所望の検知エリアを設定
することができ、組み立て作業が簡単になるという効果
を有している。Furthermore, since the center of the light receiving range of the position detecting means 4 corresponds to the detection distance, that is, the far point of the detection area, the adjustment range of the distance setting volume VR, the position of the position detecting means 4 and the light receiving area, as in the conventional example. Matching with the range (Set the position of the position detecting means 4 and the adjustment range of the distance setting volume VR so that the near limit point of the detection distance is set so that it operates on the safe side even if the signal processing circuit is saturated. Or adjusting the distance scale of the distance setting volume VR and the far point of the detection area), the desired detection area can be created by simply adjusting the position of the light receiving optical system 2. It has the effect that it can be set and the assembly work becomes simple.
すなわち、遠点の距離を第１図のlbとする検知エリアを
設定する場合には、凸レンズよりなる受光用光学系２を
実線で示すように配置すれば良く、遠点の距離を第１図
のlaとする検知エリアを設定する場合には、受光用光学
系２を点線で示す位置までスライド移動させれば良く、
受光用光学系２をスライドさせるだけで容易に検知エリ
アを変更することができるようになっている。ところ
で、三角測量方式による測距精度は、投光用光学系12と
受光用光学系２との離間距離l0が長いほど高くなるが、
本実施例にあっては、検知距離を長く設定した場合に
は、離間距離l0が長くなって必然的に測距精度が高くな
り好都合である。That is, when setting the detection area in which the distance of the far point is lb in FIG. 1, the light receiving optical system 2 made of a convex lens may be arranged as shown by the solid line. When setting the detection area to be la, the light receiving optical system 2 may be slid to the position indicated by the dotted line,
The detection area can be easily changed only by sliding the light receiving optical system 2. By the way, the accuracy of distance measurement by the triangulation method increases as the distance l 0 between the light projecting optical system 12 and the light receiving optical system 2 increases.
In the present embodiment, when the detection distance is set to be long, the separation distance l 0 becomes long, which inevitably increases the distance measurement accuracy, which is convenient.
［発明の効果］ 本発明は上述のように、投光用発光素子から発する光を
投光用光学系にて光ビームに成形して検知エリアに投光
する投光手段と、投光手段の側方に所定距離をもって配
設され被検知物体による光ビームの反射光を集光する１
枚の凸レンズよりなる受光用光学系と、受光用光学系の
集光面に配設され被検知物体までの距離に応じて集光面
内で移動する集光スポットの位置に対応した一対の相反
信号よりなる位置信号を出力する位置検出手段と、位置
検出手段出力に基いて被検知物体が検知エリア内に存在
するかどうかを判別して出力回路を制御する判別制御手
段とを具備した反射型光電スイッチにおいて、受光用光
学系を移動自在にして光学的相対位置を変化させること
により検知エリアとなる距離範囲を設定する検知エリア
設定手段を設け、位置信号たる一対の相反信号の大小を
比較して被検知物体が上記設定した検知エリア内に存在
するかどうかを判別するように判別制御手段を形成した
ものであり、１枚の凸レンズよりなる受光用光学系を移
動させて検知エリアの検知距離を設定しているので、１
枚の凸レンズよりなる受光用光学系を移動自在にして検
知エリアの検知距離を設定できるようにしているので、
構成が非常に簡単になるとともに、測距精度を低くする
ことなく測距範囲を広くすることができ、物体検知能力
を低下させることなく検知エリアを大幅に変更できると
いう効果があり、従来例のように、位置信号の厳密な除
算を行うことなく単に大小を比較するだけで、被検知物
体が検知エリア内に存在するかどうかを判別するように
判別制御手段を形成しているので、回路構成が簡単にな
って低コスト化を図ることができるという効果がある。[Advantages of the Invention] As described above, the present invention includes a light projecting means for shaping light emitted from a light projecting light emitting element into a light beam by a light projecting optical system and projecting the light beam onto a detection area, and a light projecting means. It is arranged with a certain distance on the side and collects the reflected light of the light beam from the detected object 1
A light receiving optical system consisting of a single convex lens and a pair of reciprocal points corresponding to the position of a focused spot that is placed on the focusing surface of the receiving optical system and moves within the focusing surface according to the distance to the object to be detected. A reflection type equipped with a position detecting means for outputting a position signal composed of a signal, and a discrimination controlling means for discriminating whether or not the object to be detected exists in the detection area based on the output of the position detecting means and controlling the output circuit. The photoelectric switch is provided with detection area setting means for setting the distance range to be the detection area by making the light receiving optical system movable and changing the optical relative position, and compares the magnitude of a pair of reciprocal signals, which are position signals. The detection control means is formed so as to determine whether or not the object to be detected exists within the detection area set as described above, and the detection optical system including one convex lens is moved to move the detection area. Since the detection distance is set, 1
Since the light receiving optical system consisting of a single convex lens is made movable so that the detection distance of the detection area can be set,
The structure is very simple, and the range can be widened without lowering the range-finding accuracy, and the detection area can be changed significantly without lowering the object detection capability. As described above, the determination control means is formed so as to determine whether or not the detected object exists in the detection area by simply comparing the magnitudes without performing the strict division of the position signal. This has the effect of simplifying the process and reducing the cost.
第１図は本発明一実施例の要部概略構成図、第２図は同
上の要部ブロック回路図、第３図は従来例の要部概略構
成図、第４図は同上のブロック回路図、第５図および第
６図は同上の動作説明図である。 １は投光手段、２は受光用光学系、４は位置検出手段、
５は判別制御手段、６は出力回路、12は投光用発光素
子、13は投光用光学系である。FIG. 1 is a schematic configuration diagram of essential parts of an embodiment of the present invention, FIG. 2 is a block circuit diagram of essential parts of the same, FIG. 3 is a schematic configuration diagram of essential parts of a conventional example, and FIG. 4 is a block circuit diagram of the same. , FIG. 5 and FIG. 6 are diagrams for explaining the operation of the above. 1 is a light projecting means, 2 is a light receiving optical system, 4 is a position detecting means,
5 is a discrimination control means, 6 is an output circuit, 12 is a light emitting element for projecting light, and 13 is an optical system for projecting light.
Claims (1)
系にて光ビームに成形して検知エリアに投光する投光手
段と、投光手段の側方に所定距離をもって配設され被検
知物体による光ビームの反射光を集光する１枚の凸レン
ズよりなる受光用光学系と、受光用光学系の集光面に配
設され被検知物体までの距離に応じて集光面内で移動す
る集光スポットの位置に対応した一対の相反信号よりな
る位置信号を出力する位置検出手段と、位置検出手段出
力に基いて被検知物体が検知エリア内に存在するかどう
かを判別して出力回路を制御する判別制御手段とを具備
した反射型光電スイッチにおいて、受光用光学系を移動
自在にして光学的相対位置を変化させることにより検知
エリアとなる距離範囲を設定する検知エリア設定手段を
設け、位置信号たる一対の相反信号の大小を比較して被
検知物体が上記設定した検知エリア内に存在するかどう
かを判別するように判別制御手段を形成したことを特徴
とする反射型光電スイッチ。1. A light projecting means for shaping light emitted from a light projecting light emitting element into a light beam by a light projecting optical system and projecting the light beam onto a detection area, and a light emitting means disposed at a side of the light projecting means with a predetermined distance. The light receiving optical system including one convex lens that collects the reflected light of the light beam from the detected object, and the light collecting surface that is arranged on the light collecting surface of the light receiving optical system according to the distance to the detected object A position detecting means for outputting a position signal composed of a pair of reciprocal signals corresponding to the position of the focused spot moving in the inside, and it is determined whether or not the detected object exists in the detection area based on the output of the position detecting means. In the reflection type photoelectric switch equipped with the discrimination control means for controlling the output circuit, the detection area setting means for setting the distance range to be the detection area by changing the optical relative position by making the light receiving optical system movable. Position signal Reflection type photoelectric switch, characterized in that the magnitude comparing to the detected object of the pair of conflicting signals to form a judgment control means to determine whether a present in the detection area set above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60211315A JPH0752104B2 (en) | 1985-09-25 | 1985-09-25 | Reflective photoelectric switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60211315A JPH0752104B2 (en) | 1985-09-25 | 1985-09-25 | Reflective photoelectric switch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6270709A JPS6270709A (en) | 1987-04-01 |
| JPH0752104B2 true JPH0752104B2 (en) | 1995-06-05 |
Family
ID=16603906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60211315A Expired - Lifetime JPH0752104B2 (en) | 1985-09-25 | 1985-09-25 | Reflective photoelectric switch |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0752104B2 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01123183A (en) * | 1987-11-09 | 1989-05-16 | Chinon Ind Inc | Reflection type photoelectric switch |
| US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
| US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
| US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
| AU2006214016B2 (en) | 2005-02-18 | 2011-11-10 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
| US8584305B2 (en) | 2005-12-02 | 2013-11-19 | Irobot Corporation | Modular robot |
| EP2816434A3 (en) | 2005-12-02 | 2015-01-28 | iRobot Corporation | Autonomous coverage robot |
| US8087117B2 (en) | 2006-05-19 | 2012-01-03 | Irobot Corporation | Cleaning robot roller processing |
| KR101168481B1 (en) | 2007-05-09 | 2012-07-26 | 아이로보트 코퍼레이션 | Autonomous coverage robot |
| US8800107B2 (en) | 2010-02-16 | 2014-08-12 | Irobot Corporation | Vacuum brush |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5648847B2 (en) * | 1974-02-26 | 1981-11-18 | ||
| JPS53132371A (en) * | 1977-04-25 | 1978-11-18 | Iwatsu Electric Co Ltd | Distance measuring device |
| JPS5855804A (en) * | 1981-09-30 | 1983-04-02 | Fujitsu Ltd | Body detecting device |
| JPS58174808A (en) * | 1982-04-07 | 1983-10-13 | Canon Inc | Distance measuring device |
| JPS58202812A (en) * | 1982-05-21 | 1983-11-26 | Canon Inc | Distance measuring device |
| JPS5999308A (en) * | 1982-11-30 | 1984-06-08 | Komatsu Ltd | Distance measuring sensor |
| JPS59193406A (en) * | 1983-04-18 | 1984-11-02 | Canon Inc | Distance measuring device |
| JPS6088312U (en) * | 1983-09-28 | 1985-06-17 | キヤノン株式会社 | distance measuring device |
| JPS6080710A (en) * | 1983-10-07 | 1985-05-08 | Seiko Koki Kk | Distance detector |
| JPS60107515A (en) * | 1983-11-16 | 1985-06-13 | Seiko Koki Kk | Distance detector |
| JPS60158309A (en) * | 1984-01-30 | 1985-08-19 | Seiko Koki Kk | Distance detector |
| JPS60177211A (en) * | 1984-02-23 | 1985-09-11 | Matsushita Electric Works Ltd | Optical distance measuring device |
-
1985
- 1985-09-25 JP JP60211315A patent/JPH0752104B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6270709A (en) | 1987-04-01 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |