Autonomous mobile robot
First Claim
1. An autonomous mobile robot comprising:
- a drive system configured to maneuver the robot over a floor surface;
a sensor system comprising wheel encoders and an inertial measurement unit configured to measure a pose of the robot, the sensor system configured to issue signals indicative of the pose of the robot; and
a controller in communication with the drive system and the sensor system,wherein the controller is configured to control the drive system to execute an anti-stasis behavior in response to at least one signal from the sensor system indicating that the robot is constrained, andwherein the controller is configured to control the drive system to execute an anti-tilt behavior in response to at least one signal from the inertial measurement unit of the sensor system indicating that the robot is tilted with respect to a direction of gravity.
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Abstract
An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
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Citations
24 Claims
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1. An autonomous mobile robot comprising:
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a drive system configured to maneuver the robot over a floor surface; a sensor system comprising wheel encoders and an inertial measurement unit configured to measure a pose of the robot, the sensor system configured to issue signals indicative of the pose of the robot; and a controller in communication with the drive system and the sensor system, wherein the controller is configured to control the drive system to execute an anti-stasis behavior in response to at least one signal from the sensor system indicating that the robot is constrained, and wherein the controller is configured to control the drive system to execute an anti-tilt behavior in response to at least one signal from the inertial measurement unit of the sensor system indicating that the robot is tilted with respect to a direction of gravity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An autonomous mobile robot, comprising:
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a drive system that drives right and left drive wheels and is configured to maneuver the robot over a floor surface; a sensor system comprising an inertial measurement unit configured to measure a pose of the robot; and a controller in communication with the drive system and the sensor system, wherein the controller controls the drive system to execute an anti-tilt behavior in response to at least one signal from the inertial measurement unit of the sensor system indicating that the robot is tilted with respect to a direction of gravity. - View Dependent Claims (20, 21, 22, 23, 24)
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Specification