Cheuk Yin Wong

US Patent:

20130226344, Aug 29, 2013

Filed:

Jul 23, 2012

Appl. No.:

13/555529

Inventors:

Cheuk Wah Wong - Bedford MA, US
Eben Rauhut - Watertown MA, US
Brian C. Benson - Winchendon MA, US
Peter J. Lydon - Peabody MA, US
Michael T. Rosenstein - S. Hadley MA, US
Michael Halloran - Waltham MA, US
Steven V. Shamlian - Watertown MA, US
Chikyung Won - Tewksbury MA, US
Mark Chiappetta - Chelmsford MA, US
Justin H. Kearns - Somerville MA, US
Orjeta Taka - Bedford MA, US
Robert Todd Pack - Hollis NH, US
Timothy S. Farlow - Billerica MA, US
Jasper Fourways Vicenti - Medford MA, US

Assignee:

iRobot Corporation - Bedford MA

International Classification:

B25J 9/16

US Classification:

700258, 901 9, 901 46, 901 1

Abstract:

A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.