Robot lawn mower bumper system
First Claim
1. A mobile robot comprising:
- a chassis;
a shell moveably mounted on the chassis by a shell suspension system;
a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis, the sensor assembly comprising;
a magnet disposed on an underside of the shell and;
three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals; and
a controller, configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis.
4 Assignments
0 Petitions
Accused Products
Abstract
In one aspect, a mobile robot includes a chassis, a shell moveably mounted on the chassis by a shell suspension system, and a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis. The sensor assembly includes a magnet disposed on an underside of the shell. The sensor assembly further includes three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals. The mobile robot also includes a controller configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis.
18 Citations
27 Claims
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1. A mobile robot comprising:
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a chassis; a shell moveably mounted on the chassis by a shell suspension system; a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis, the sensor assembly comprising; a magnet disposed on an underside of the shell and; three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals; and a controller, configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method of detecting contact between a mobile robot and an obstacle comprising:
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sensing, with a sensor assembly comprising a magnet disposed on a shell of the mobile robot and three or more Hall effect sensors disposed on a chassis of the mobile robot, an analog response of three or more Hall effect sensors based on an orientation of the magnet in relation to the Hall effect sensors; receiving, at a controller, signals provided by the three or more Hall effect sensors of the sensor assembly; determining, by the controller, a distance and a direction of movement of the shell relative to the chassis; and modifying at least one behavior of the mobile robot based on the distance and direction of movement of the shell relative to the chassis. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification