Autonomous mobile robot
First Claim
1. An autonomous mobile robot comprising:
- a robot body defining a forward drive direction;
a drive system supporting the robot body and configured to maneuver the robot over a floor surface;
a sensor system comprising wheel encoders and an inertial measurement unit for measuring a pose of the robot, the sensor system issuing sensor signals indicative of the pose of the robot; and
a controller in communication with the drive system and the sensor system and having a computing processor executing a behavior system, the behavior system receiving the sensor signals from the sensor system and executing an anti-stasis behavior comprising;
issuing a first wiggle drive command having a first wiggle angle, the first wiggle drive command directing the drive system to drive with a first wiggle motion by driving in alternating left and right directions angled with respect to each other by the first wiggle angle;
determining whether the robot exhibits the first wiggle motion by comparing sensor signals from the wheel encoders and/or the internal measurement unit to a commanded rate of travel; and
when the robot fails to exhibit the first wiggle motion, issuing a second wiggle drive command having a corresponding second wiggle angle to drive with a corresponding second wiggle motion, the second wiggle angle greater than the first wiggle angle.
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Accused Products
Abstract
An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
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Citations
25 Claims
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1. An autonomous mobile robot comprising:
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a robot body defining a forward drive direction; a drive system supporting the robot body and configured to maneuver the robot over a floor surface; a sensor system comprising wheel encoders and an inertial measurement unit for measuring a pose of the robot, the sensor system issuing sensor signals indicative of the pose of the robot; and a controller in communication with the drive system and the sensor system and having a computing processor executing a behavior system, the behavior system receiving the sensor signals from the sensor system and executing an anti-stasis behavior comprising; issuing a first wiggle drive command having a first wiggle angle, the first wiggle drive command directing the drive system to drive with a first wiggle motion by driving in alternating left and right directions angled with respect to each other by the first wiggle angle; determining whether the robot exhibits the first wiggle motion by comparing sensor signals from the wheel encoders and/or the internal measurement unit to a commanded rate of travel; and when the robot fails to exhibit the first wiggle motion, issuing a second wiggle drive command having a corresponding second wiggle angle to drive with a corresponding second wiggle motion, the second wiggle angle greater than the first wiggle angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A control system for an autonomous mobile robot, the control system comprising:
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a control arbitration system executing on a computing processor and issuing commands to resources of the robot; a drive system comprising right and left drive wheels, the drive system supporting the robot body and configured to maneuver the robot over a floor surface; a sensor system comprising wheel encoders tracking revolution of both dive wheels and an inertial measurement unit measuring a pose of the robot, the sensor system issuing a sensor signal indicative of the pose of the robot; and a controller in communication with the drive system and the sensor system, the controller having a computing processor executing a behavior system, the behavior system receiving the sensor signals from the sensor system and executing an anti-stasis behavior comprising; issuing a first wiggle drive command having a first wiggle angle, the first wiggle drive command directing the drive system to drive with a first wiggle motion by driving in alternating left and right directions angled with respect to each other by the first wiggle angle; determining whether the robot exhibits the first wiggle motion by comparing sensor signals from the wheel encoders and/or the internal measurement unit to a commanded rate of travel; and when the robot fails to exhibit the first wiggle motion, issuing a second wiggle drive command having a corresponding second wiggle angle to drive with a corresponding second wiggle motion, the second wiggle angle greater than the first wiggle angle. - View Dependent Claims (24)
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25. A method of operating an autonomous mobile robot, the method comprising:
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receiving, at a computing processor, sensor signals from a sensor system of the robot, the sensor signals including odometry signals and inertial measurement signals indicative of a pose of the robot; and executing on the computing processor a behavior system, the behavior system receiving the sensor signals from the sensor system and executing an anti-stasis behavior comprising; issuing a first wiggle drive command having a first wiggle angle, the first wiggle drive command directing the robot to drive with a first wiggle motion by driving in alternating left and right directions angled with respect to each other by the first wiggle angle; determining whether the robot exhibits the first wiggle motion by comparing the odometry signals and/or the internal measurement signals to a commanded rate of travel; and when the robot fails to exhibit the first wiggle motion, issuing a second wiggle drive command having a corresponding second wiggle angle to drive with a corresponding second wiggle motion, the second wiggle angle greater than the first wiggle angle.
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Specification