DETECTING ROBOT STASIS
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.
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Citations
41 Claims
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1-21. -21. (canceled)
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22. A coverage robot comprising:
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a body; a wheeled-drive that maneuvers the body over a surface according to drive commands from a controller in communication with the drive; a first stasis sensor carried on the body, and responsive to surface-relative movement of the body; a second stasis sensor carried separately on the body from the first stasis sensor, and responsive to surface-relative movement of the body, wherein the controller is configured to; receive sensory output from each of the first and second stasis sensors; and determine whether the body is moving relative to the surface as a function of the drive commands and sensory output from at least one of the first and second stasis sensors. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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Specification