公开(公告)号：EP3224003A4

公开(公告)日：2018-07-04

申请号：EP15863494

申请日：2015-11-17

Applicant: IROBOT CORP

Inventor： ROMANOV NIKOLAI ,  CASE JAMES PHILIP ,  GRIEST KENNETH ,  SWETT DAVID O

IPC: B25J9/00 ,  A47L9/28 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  G05D1/02

CPC classification number: B25J9/1697 ,  G05B2219/50393 ,  G05D1/0253 ,  G05D1/027 ,  G05D2201/0203 ,  Y10S901/01 ,  Y10S901/47

Abstract: Systems and methods for use of optical odometry sensor systems in a mobile robot. The optical odometry sensor system is positioned within a recessed structure on an underside of the mobile robot body and configured to output optical odometry data. The optical odometry sensor system includes an optical odometry camera that includes a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field that provides a range of viewing distances at which a tracking surface is captured in focus from a first distance within the recessed structure to a second distance below the underside of the mobile robot body.