Obstruction management system for robots
First Claim
1. A surface transition detection system for a floor maintenance robot comprised of a plow-shaped plow flexibly attached to the robot'"'"'s powered chassis;
- with an annular clearance provided between the leading, plow-shaped element and the powered chassis;
with sensing means to detect changes in said clearance resulting from collisions between obstructions and the plow-shaped plow.
1 Assignment
0 Petitions
Accused Products
Abstract
A system for mobile robots to detect obstructions. Obstructions include objects which may impair the or impede the mobility of the robot, as well as transitions from carpeted surfaces to hard surfaces, transitions from hard surfaces to carpet, or transitions between other types of flooring. The system includes a plow which may move underneath the obstruction, The obstruction may the be brushed aside, or rise to an elevation detectable by the robot. Upon detection, the robot may change its direction of movement or stop moving altogether.
136 Citations
11 Claims
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1. A surface transition detection system for a floor maintenance robot comprised of a plow-shaped plow flexibly attached to the robot'"'"'s powered chassis;
- with an annular clearance provided between the leading, plow-shaped element and the powered chassis;
with sensing means to detect changes in said clearance resulting from collisions between obstructions and the plow-shaped plow. - View Dependent Claims (2, 3, 4)
- with an annular clearance provided between the leading, plow-shaped element and the powered chassis;
- 5. A surface transition detection system for a floor maintenance robot comprised of a plow-shaped plow and acoustic or optical sensors positioned above the plow-shaped plow to detect material lifted in front of the sensor by the plow-shaped plow.
- 8. An obstruction management system for a mobile robot having a periphery and a leading face and being disposable on a support surface, said system comprising a plow juxtaposed with said leading face and extending outwardly from the periphery of said robot, said plow being disposed in acute angular relationship relative to said support surface.
Specification