DETECTING ROBOT STASIS
First Claim
1. A coverage robot comprising:
- a drive configured to maneuver the robot as directed by a controller in communication with the drive;
a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, the stasis indication wheel defining a first reflective portion and a second reflective portion, the second reflective portion being substantially less reflective than the first reflective portion;
a suspension supporting the wheel and permitting movement of the wheel in a direction other than rotation about the first axis;
a signal emitter disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel; and
a signal receiver positioned to receive the signal as reflected by the wheel as the wheel rotates with respect to the emitter and as the suspension permits movement of the wheel in a direction other than rotation about the first axis, wherein communication between the emitter and the receiver is affected by rolling transitions between the first reflective portion and the second reflective portion of the wheel in multiple positions about the first axis and along permitted movement in a direction other than rotation about the first axis.
4 Assignments
0 Petitions
Accused Products
Abstract
A coverage robot includes a drive configured to maneuver the robot as directed by a controller, a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, and a suspension supporting the wheel. The stasis indication wheel defines a first reflective portion and a second reflective portion. The second reflective portion is substantially less reflective than the first reflective portion. The suspension permits movement of the wheel in a direction other than rotation about the first axis. A signal emitter is disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel. A signal receiver is positioned to receive the reflected signal by the rotating wheel. Communication between the emitter and the receiver is affected by rolling transitions between the first and second reflective portions during permitted movement of the wheel.
-
Citations
21 Claims
-
1. A coverage robot comprising:
-
a drive configured to maneuver the robot as directed by a controller in communication with the drive;
a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel, the stasis indication wheel defining a first reflective portion and a second reflective portion, the second reflective portion being substantially less reflective than the first reflective portion;
a suspension supporting the wheel and permitting movement of the wheel in a direction other than rotation about the first axis;
a signal emitter disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel; and
a signal receiver positioned to receive the signal as reflected by the wheel as the wheel rotates with respect to the emitter and as the suspension permits movement of the wheel in a direction other than rotation about the first axis, wherein communication between the emitter and the receiver is affected by rolling transitions between the first reflective portion and the second reflective portion of the wheel in multiple positions about the first axis and along permitted movement in a direction other than rotation about the first axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A coverage robot comprising:
-
a drive configured to maneuver the robot as directed by a controller in communication with the drive;
a stasis indication wheel rotatable about a first axis perpendicular to a direction of forward travel and disposed adjacent the drive, the wheel comprising a hub and multiple spokes extending outwardly from the hub, the wheel defining a first reflective portion and a second reflective portion, the second reflective portion being substantially less reflective than the first reflective portion;
a signal emitter disposed remotely from the wheel and positioned to direct a signal that sequentially is intercepted by the first and second reflective portions of the wheel; and
a signal receiver positioned to receive the signal as reflected by the wheel as the wheel rotates with respect to the emitter and as the suspension permits movement of the wheel in a direction other than rotation about the first axis, wherein communication between the emitter and the receiver is affected by rolling transitions between the first reflective portion and the second reflective portion of the wheel in multiple positions about the first axis and along permitted movement in a direction other than rotation about the first axis. - View Dependent Claims (16, 17, 18, 19, 20, 21)
-
Specification