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Autonomous Mobile Robot

  • US 20150166060A1
  • Filed: 11/19/2014
  • Published: 06/18/2015
  • Est. Priority Date: 12/18/2013
  • Status: Active Grant
First Claim
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1. An autonomous mobile robot comprising:

  • a robot body defining a forward drive direction and having forward and rearward portions with respect to the forward drive direction, the forward portion having a substantially straight forward surface bounded by corners positioned along a circumdiameter of the robot body;

    a drive system supporting the robot body and configured to maneuver the robot across a floor surface;

    a sonar system disposed on the robot body, the sonar system comprising an array of sonar emitters and an array of sonar receivers arranged along the length of the forward surface, each emitter disposed adjacent a receiver and emitting a sound wave, each receiver capable of receiving sound wave reflections, and each emitter and receiver pair measuring a distance from the forward surface to a wall;

    an optical side ranging sensor disposed on a side of the robot body and positioned adjacent at least one corner of the forward surface; and

    a control system supported by the robot body and in communication with the drive system, the sonar system, and the side ranging sensor, the control system;

    determining an angle of approach of the forward surface to the wall based on sensor signals received from the array of sonar receivers;

    determining a closest corner distance to the wall, the corner distance measured as a shortest distance from a corner of the front surface to the wall; and

    causing the drive system to turn the robot body to avoid collision with the wall and align the forward drive direction parallel to the wall with the robot body traveling adjacent the wall at a threshold wall following distance.

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