Mechanical arrangement and components for reducing error in deduced reckoning
First Claim
1. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
- a mobile robotic vehicle having a maximum acceleration equal to a1, having a maximum deceleration equal to a2, and having a total vehicle weight;
at least a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the drive axis at or near a midpoint between the driven wheels, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests;
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r1; and
at least a second rolling element located to a second side of the drive axis, the second rolling element being rotatable about a second rolling axis that is parallel to the drive axis and separated from the drive axis by a second horizontal distance r2, wherein a percentage of the total vehicle weight carried by the drive wheels is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle.
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Accused Products
Abstract
The present application discloses a mechanical arrangement and components for reducing errors in position estimation in mobile robotic vehicles that use deduced reckoning. The arrangement provides a method for determining the weight to be carried by the driven wheels to provide increased or maximum contact force between the driven wheels and a support surface, which in turn reduces or minimizes wheel slippage and reduces or minimizes vehicle tilting. The arrangement further provides uniquely shaped rolling elements that generate reduced sideways directed forces on the vehicle, thus reducing or minimizing wheel slippage.
13 Citations
31 Claims
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1. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a maximum acceleration equal to a1, having a maximum deceleration equal to a2, and having a total vehicle weight;
at least a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the drive axis at or near a midpoint between the driven wheels, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests;
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r1; and
at least a second rolling element located to a second side of the drive axis, the second rolling element being rotatable about a second rolling axis that is parallel to the drive axis and separated from the drive axis by a second horizontal distance r2, wherein a percentage of the total vehicle weight carried by the drive wheels is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a maximum acceleration equal to a1, and having a total vehicle weight;
at least a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the drive axis at or near a midpoint between the driven wheels, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests; and
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r1;
whereina percentage of the total vehicle weight carried by the drive wheels is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle. - View Dependent Claims (12)
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13. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a maximum deceleration equal to a2, and having a total vehicle weight;
at least a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the drive axis at or near a midpoint between the driven wheels, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests; and
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r2;
whereina percentage of the total vehicle weight carried by the drive wheels is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle. - View Dependent Claims (14)
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15. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a maximum acceleration equal to a1, having a maximum deceleration equal to a2, and having a total vehicle weight;
at least a first driven wheel, the driven wheel being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the driven wheel, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests;
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r1; and
at least a second rolling element located to a second side of the drive axis, the second rolling element being rotatable about a second rolling axis that is parallel to the drive axis and separated from the drive axis by a second horizontal distance r2;
whereina percentage of the total vehicle weight carried by the driven wheel is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle.
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- 16. A rolling element for supporting a mobile robotic vehicle, the rolling element comprising a rolling surface having a generally prolate spheroid shape.
- 24. A rolling element for supporting a mobile robotic vehicle, the rolling element comprising a central portion that is substantially cylindrical, and end portions that each taper monotonically from a larger diameter to a smaller diameter in a direction away from the central portion.
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27. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis;
at least a first rolling element located aft of the drive axis and a second rolling element located fore of the drive axis;
whereinthe rolling elements are each fixed with respect to the vehicle against rotation about a vertical axis and translation along the vertical axis; and
each rolling element comprises a rolling surface having a prolate spheroid shape. - View Dependent Claims (28, 29)
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30. A mechanical arrangement for deduced reckoning that reduces or minimizes deduced reckoning error accumulation in a mobile robotic vehicle, the arrangement comprising:
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a mobile robotic vehicle having a maximum acceleration equal to a1, having a maximum deceleration equal to a2, and having a total vehicle weight;
a first driven wheel and a second driven wheel, the driven wheels being rotatable, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests;
a first rolling element located to a first side of the driven wheels, the first rolling element being rotatable and being separated from the driven wheels by a first horizontal distance r1; and
a second rolling element located to a second side of the driven wheels, the second rolling element being rotatable and being separated from the driven wheels by a second horizontal distance r2;
whereina percentage of the total vehicle weight carried by the drive wheels depends at least in part upon the following quantities;
a1, a2, h, r1, and r2.
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31. A mobile robotic vehicle, comprising:
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a vehicle body, at least one motor providing locomotion to the vehicle, at least one power source and at least one control system, the vehicle having a maximum acceleration equal to a1, having a maximum deceleration equal to a2, and having a total vehicle weight;
at least a first driven wheel and a second driven wheel, the driven wheels being rotatable about a drive axis, a vertical axis through the center of gravity of the vehicle intersecting or nearly intersecting the drive axis at or near a midpoint between the driven wheels, the center of gravity of the vehicle being located at a height h above a support surface upon which the vehicle rests;
at least a first rolling element located to a first side of the drive axis, the first rolling element being rotatable about a first rolling axis that is parallel to the drive axis and separated from the drive axis by a first horizontal distance r1; and
at least a second rolling element located to a second side of the drive axis, the second rolling element being rotatable about a second rolling axis that is parallel to the drive axis and separated from the drive axis by a second horizontal distance r2;
whereina percentage of the total vehicle weight carried by the drive wheels is less than or equal to the following quantity where g is equal to gravitational acceleration in a vicinity of the vehicle.
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Specification