Patent ID: 11926175
Assignee: DEKA PRODUCTS LIMITED PARTNERSHIP
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 18:
19. An autonomous delivery vehicle that navigates one or more surfaces and comprising:
a container base that includes:
a controller; and
a camera, the camera having field of view; and

a power base to move the container base across the one or more surfaces, the power base comprising:
a base structure including a second controller;
two clusters disposed laterally on each side of a base, each cluster rotatably connected to the base, each cluster including a front wheel and a back wheel; and

two casters, each caster connected to a caster arm with a caster mount, the caster arms mounted on each side of the base, wherein the casters are disposed partially within the camera's field of view, the caster mount comprising a centering device that urges the casters to a predetermined orientation when the casters are not in contact with the ground;
wherein the centering device comprises:
a first part mounted to the caster arm;
a second part mounted to one of the two casters and the second part rotating about an axis and having a rotational position with respect to the first part, and the second part having a design position; and
a magnetic means that applies a magnetic force on the second part, the magnetic force increasing with an angular difference between the rotational position and the design position.