Robotic vehicle with deduced reckoning positioning system
First Claim
1. A robotic vehicle comprising:
- two independent axially co-linear wheels, wherein said wheels form the only contact with the floor when said robotic vehicle is at rest;
a robot body mounted between said wheels wherein a center of mass of said robot body at rest is vertically aligned with said wheel axes; and
a positioning system mounted on said robot body.
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Accused Products
Abstract
A robotic vehicle includes two independent axially colinear wheels, wherein the wheels form the only contact with the floor when the robotic vehicle is at rest. A robot body is mounted between the wheels, and a ded-reckoning positioning system is mounted on the robot body. Each wheel includes a series of circumferentially spaced points forming the surface contact of said wheel with the floor. A graphical user interface is provided for manipulating the robotic vehicle. A robot attaching harness is on the robot body for coupling auxiliary equipment to the robotic vehicle. The ded-reckoning positioning system updates the relative position and orientation of the robotic vehicle through measurement of wheel rotation, and calculates an amount of slip for each wheel.
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Citations
29 Claims
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1. A robotic vehicle comprising:
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two independent axially co-linear wheels, wherein said wheels form the only contact with the floor when said robotic vehicle is at rest; a robot body mounted between said wheels wherein a center of mass of said robot body at rest is vertically aligned with said wheel axes; and a positioning system mounted on said robot body. - 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. A wheel for a robotic vehicle wherein said wheel includes a series of circumferentially spaced points forming the surface contact of said wheel with the floor, wherein the thickness of each said point is less than about 0.375 inches.
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21. A robotic vehicle comprising:
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at least two independent axially colinear wheels; a robot body mounted between said wheels, wherein a center of mass of said robot body is aligned vertically below an axle line of both axles of said two wheels; and a robot attaching harness on said robot body for coupling auxiliary equipment to said robotic vehicle, said attaching harness attached to said robot body at a midpoint between said wheels. - View Dependent Claims (22)
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- 25. A ded-reckoning positioning system for a robotic vehicle, said ded-reckoning positioning system comprising a means for measuring robotic vehicle wheel rotation, wherein said ded-reckoning positioning system automatically updates the relative position and orientation of the robotic vehicle through measurement of wheel rotation, and wherein said ded-reckoning positioning system calculates an amount of slip for each wheel of the robotic vehicle, wherein said amount of slip for each wheel is calculated as a function of velocity of the wheel, acceleration of the wheel, current applied to the wheel motor and voltage applied to the wheel motor.
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29. A graphical user interface for manipulating a robotic vehicle, said graphical user interface comprising a top view of a room containing the robotic vehicle and an icon of the respective position and orientation of the robotic vehicle within the room, wherein a vector established from said icon in said graphical user interface is used to control each respective wheel of the robotic vehicle to move the robotic vehicle in the direction of said vector.
Specification