Patent ID: 11860638
Assignee: IROBOT CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 16:
17. A method of operating a mobile robot, the mobile robot comprising a robot body and a bumper frame on a front periphery of the robot body, the method comprising:
producing, based on motion of the bumper frame relative to the robot body, a first signal from a first sensor at a first orientation with respect to the bumper frame;
producing, based on motion of the bumper frame relative to the robot body, a second signal from a first sensor at a second orientation with respect to the bumper frame, the first orientation different from the second orientation; and
determining, based on the first signal and the second signal, a region of the bumper frame impacted, wherein a number of regions of the bumper frame is greater than two.