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Systems and methods for use of optical odometry sensors in a mobile robot

  • US 9,744,670 B2
  • Filed: 09/16/2015
  • Issued: 08/29/2017
  • Est. Priority Date: 11/26/2014
  • Status: Active Grant
First Claim
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1. A mobile robot configured to navigate an operating environment, comprising:

  • a body containing;

    a drive configured to translate the mobile robot in a direction of motion;

    at least one processor;

    memory containing a navigation application;

    an optical odometry sensor system positioned within a recessed structure on an underside of the body and configured to output optical odometry data, where the optical odometry sensor system comprises an optical odometry camera positioned at a height between 40 to 60 mm from a floor surface, the optical odometry camera including a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field in which objects are in focus at distances including distances between negative 5 to 20 mm from a bottom surface of the body; and

    a gyroscope configured to output gyroscope measurement data.

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