Obstruction management system for robots
First Claim
Patent Images
1. A mobile robot, the robot comprising a chassis and a plow flexibly attached to the chassis;
- an annular clearance being provided between the plow and the chassis;
a sensor to detect changes in said clearance resulting from collisions between obstructions and the plow.
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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.
182 Citations
16 Claims
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1. A mobile robot, the robot comprising a chassis and a plow flexibly attached to the chassis;
- an annular clearance being provided between the plow and the chassis;
a sensor to detect changes in said clearance resulting from collisions between obstructions and the plow. - View Dependent Claims (2, 3, 4, 5)
- an annular clearance being provided between the plow and the chassis;
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6. A mobile robot having a surface transition detection system, the robot comprising a chassis and a plow flexibly attached to the chassis;
- an annular clearance being provided between the plow and the chassis;
a sensor to detect changes in said clearance resulting from collisions between obstructions and the plow, said robot having at least one floor contacting element wherein the surface transition detection system comprises a vibration sensor mounted on a surface contacting element of the robot.
- an annular clearance being provided between the plow and the chassis;
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7. A mobile robot having a surface transition detection system, the robot comprising a chassis and a plow flexibly attached to the chassis;
- an annular clearance being provided between the plow and the chassis;
a sensor to detect changes in said clearance resulting from collisions between obstructions and the plow, said robot having a shell pivotally mounted on said chassis.
- an annular clearance being provided between the plow and the chassis;
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8. A surface transition detection system for a mobile robot, said system comprising a plow and acoustic and/or optical sensors positioned above the plow to detect material lifted in front of the sensor by the plow while the robot is in motion.
- 9. 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