Patent ID: 9744670
Date: 2017-08-29
CPC Classifications: B25J,G05B,G05D,Y10S

Claim:
1. A mobile robot configured to navigate an operating environment, comprising: a body containing: a drive configured to translate the mobile robot in a direction of motion; at least one processor; memory containing a navigation application; an optical odometry sensor system positioned within a recessed structure on an underside of the body and configured to output optical odometry data, where the optical odometry sensor system comprises an optical odometry camera positioned at a height between 40 to 60 mm from a floor surface, the optical odometry camera including a telecentric lens configured to capture images of a tracking surface beneath the body and having a depth of field in which objects are in focus at distances including distances between negative 5 to 20 mm from a bottom surface of the body; and a gyroscope configured to output gyroscope measurement data.