U.S. patent application number 17/241816 was filed with the patent office on 2021-11-25 for magnetic lock for throwable robot.
The applicant listed for this patent is ReconRobotics, Inc.. Invention is credited to Andrew Drenner, Alex J. Kossett.
Application Number | 20210362355 17/241816 |
Document ID | / |
Family ID | 1000005767625 |
Filed Date | 2021-11-25 |
United States Patent
Application |
20210362355 |
Kind Code |
A1 |
Kossett; Alex J. ; et
al. |
November 25, 2021 |
MAGNETIC LOCK FOR THROWABLE ROBOT
Abstract
A two wheeled throwable robot comprises an elongate chassis with
two ends, a motor at each end, drive wheels connected to the
motors, and a tail extending from the elongate chassis. The
throwable robot includes an enable/disable arrangement comprising a
pair of magnets generating a magnetic field and a magnetic field
sensor positioned in proximity to the pair of magnets. The sensor
is activated upon the occurrence of a specific modification of the
magnetic field. The throwable robot may include a key member formed
of a material to modify the magnetic field to enable the robot.
Inventors: |
Kossett; Alex J.;
(Minnetonka, MN) ; Drenner; Andrew; (Savage,
MN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
ReconRobotics, Inc. |
Edina |
MN |
US |
|
|
Family ID: |
1000005767625 |
Appl. No.: |
17/241816 |
Filed: |
April 27, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15998672 |
Aug 15, 2018 |
10987818 |
|
|
17241816 |
|
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|
|
62545914 |
Aug 15, 2017 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G07C 9/00174 20130101;
G07C 9/00896 20130101; B60K 1/02 20130101; B60R 16/0231 20130101;
B25J 5/007 20130101; B62D 57/02 20130101; B25J 19/027 20130101;
B25J 19/023 20130101; F41H 7/005 20130101; B60Y 2200/24
20130101 |
International
Class: |
B25J 19/02 20060101
B25J019/02; B62D 57/02 20060101 B62D057/02; B60R 16/023 20060101
B60R016/023; B25J 5/00 20060101 B25J005/00; G07C 9/00 20060101
G07C009/00; F41H 7/00 20060101 F41H007/00 |
Claims
1. A throwable surveillance robot weighing less than six pounds
comprising: a pair of axially aligned drive wheels, each wheel
having a maximum diameter; a body, the body comprising a housing
extending between the drive wheels, the housing being disposed
within a cylinder defined by the maximum diameters of the drive
wheels, the housing defining a housing cavity containing a
receiver, a transmitter, and a video camera connected to the
transmitter, the housing including a key holding portion defining a
key holding slot, the key holding slot having a key member
insertion and withdrawal axis; a first magnet and a second magnet
disposed inside the housing cavity, the magnets providing a
magnetic flux field, each magnet being located near the key holding
slot; a key member conforming to the key holding slot, the key
member comprising a material with a relative electromagnetic
permeability greater than 500 so that the magnetic flux field
produced by the magnets changes when the key member is disposed in
the key holding slot, wherein the magnets produce a first,
undeformed magnetic field while the key member is disposed in the
key holding slot and the magnets produce a second, deformed
magnetic field while the key member is not disposed in the key
holding slot; a magnetic field sensor disposed inside the housing
cavity, the magnetic field sensor being positioned between the
first magnet and the second magnet, the magnetic field sensor
providing a first output signal when the first, undeformed magnetic
field is present and a second output signal when the second,
deformed magnetic field is present.
2. The throwable surveillance robot of claim 1 wherein the presence
of the key member in the key holding slot defined by the key member
receiving structure alters a magnitude of the magnetic field
produced by the magnets at the magnetic field sensor, the magnetic
field produced by the magnets having a first magnitude at the
magnetic field sensor when the key member is present in the key
holding slot and a second magnitude at the magnetic field sensor
when the key member is absent from the key holding slot.
3. The throwable surveillance robot of claim 1 wherein the presence
of the key member in the key holding slot defined by the key member
receiving structure alters an angle of flux lines in the magnetic
field produced by the magnets at the magnetic field sensor, the
flux lines in the magnetic field produced by the magnets having a
first angle at the magnetic field sensor when the key member is
present in the key holding slot and a second angle at the magnetic
field sensor when the key member is absent from the key holding
slot.
4. The throwable surveillance robot of claim 1 wherein the first
output signal is a logical one and the second output signal is a
logical zero or the first output signal is a logical zero and the
second output signal is a logical one.
5. The throwable surveillance robot of claim 1 wherein the magnetic
field sensor comprises a Hall effect sensor.
6. The throwable surveillance robot of claim 1 wherein the key
member is configured as a plate with opposing planar sides.
7. The throwable surveillance robot of claim 1 wherein the key
member is configured as a plate with opposing planar sides, each
opposing planar side having a rectangular shape.
8. The throwable surveillance robot of claim 1 wherein the key
member has a parallelepiped three dimensional shape.
9. The throwable surveillance robot of claim 1 wherein the housing
includes a wall portion separating the key holding slot from the
housing cavity.
10. The throwable surveillance robot of claim 1 further comprising
a key retention mechanism comprising a key engaging element that is
slidingly supported by the housing and a coil spring that biases
the key engaging element toward the key member.
11. The throwable surveillance robot of claim 10 wherein the key
member defines a notch that is positioned and dimensioned to
receive a distal portion of the key engaging element.
12. A throwable remotely controlled robot comprising: a housing
defining a housing cavity; a pair of magnets disposed inside the
housing, the pair of magnets generating a magnetic field; an
enable/disable sensor disposed inside the housing cavity defined by
the housing, the a sensor being positioned in proximity to the pair
of magnets, the sensor providing a first output signal when a
first, undeformed magnetic field is present and a second output
signal when a second, deformed magnetic field is present; a key
member formed of a material to modify the magnetic field;
13. The robot of claim 12 where in the magnets are arranged in
opposite polarity and wherein the sensor is a vertically-polarized
sensor and is positioned between the two magnets.
14. The robot of claim 12 wherein the key member is made of
steel.
15. The robot of claim 14 wherein the key member creates an
increased vertical field component to enable the sensor.
16. The robot of claim 15 wherein the housing includes a key
holding portion defining a key holding slot.
17. The robot of claim 12 wherein a key member has a shape
conforming to the key holding slot.
18. A throwable remotely controlled robot with a housing and
enable/disable sensor comprising a pair of magnets generating a
magnetic field, and a sensor positioned in proximity, the sensor
requiring a specific modification of the magnetic field to actuate
the sensor, and further comprising a key plate formed of a material
to modify the magnetic field to enable the robot.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 15/998,672, filed Aug. 15, 2018, now U.S. Pat. No. 10,987,818,
issued Apr. 27, 2021, which claims the benefit of U.S. Provisional
Application No. 62/545,914, filed Aug. 15, 2017, the contents of
which are incorporated by reference herein in their entireties.
BACKGROUND OF THE INVENTION
[0002] Throwable robots used in military and policing operations
need to be robust and able to survive exposure to rugged conditions
including water and vertical drops. Robots used in hostile military
and policing operations require robust, reliable, and secure
control systems, including enable-disable switches. Improvements in
reliability and performance for robots used in high stakes military
and police operations are desirable.
SUMMARY OF THE INVENTION
[0003] This invention relates to a means to readily, reliably, and
securely enable or disable a device, for example a throwable robot.
In one example, to detect the presence of a ferromagnetic
component, in a tamper-resistant and environmentally-sealed manner.
In embodiments, the throwable surveillance robot comprises a pair
of axially aligned drive wheels, each wheel having a maximum
diameter. The surveillance robot may have a body comprising a
housing extending between the drive wheels. In embodiments, the
housing is disposed completely within a cylinder defined by the
maximum diameters of the drive wheels. In embodiments, the housing
defines a housing cavity containing a receiver, a transmitter, and
a video camera connected to the transmitter. The housing may
include a key holding portion defining a key holding slot having a
key member insertion and withdrawal axis. In embodiments, throwing
of the surveillance robot is facilitated by a design providing a
total weight of less than six pounds.
[0004] In embodiments, the surveillance robot comprises a first
magnet and a second magnet disposed inside the housing cavity. The
magnets may provide a magnetic flux field. Each magnet may be
located near the key holding slot with a wall portion of the
housing extending between each magnet and the key holding slot. The
surveillance robot may also comprise a key member conforming to the
key holding slot. In embodiments, the key member comprises a
material with a relative electromagnetic permeability greater than
five hundred so that the magnetic flux field produced by the
magnets changes when the key member is disposed in the key holding
slot. In embodiments, the magnets produce a first, undeformed
magnetic field while the key member is disposed in the key holding
slot and the magnets produce a second, deformed magnetic field
while the key member is not disposed in the key holding slot.
[0005] In embodiments, the surveillance robot comprises a magnetic
field sensor disposed inside the housing cavity. The magnetic field
sensor may be, for example, positioned between the first magnet and
the second magnet. In embodiments, the magnetic field sensor
provides a first output signal when the first, undeformed magnetic
field is present and a second output signal when the second,
deformed magnetic field is present. In some embodiments, the first
output signal is a logical one and the second output signal is a
logical zero. In other embodiments, the first output signal is a
logical zero and the second output signal is a logical one. In
embodiments, the housing includes a wall portion separating the key
holding slot from the housing cavity. In embodiments, each magnet
is located near the key holding slot with the wall portion of the
housing extending between each magnet and the key holding slot.
[0006] The magnetic field sensor may comprise, for example, a Hall
effect sensor. In embodiments, the presence of the key member in
the key holding slot defined by the key holding portion alters a
magnitude of the magnetic field produced by the magnets at the
magnetic field sensor. For example, the magnetic field produced by
the magnets may have a first magnitude at the magnetic field sensor
while the key member is present in the key holding slot and a
second magnitude at the magnetic field sensor while the key member
is absent from the key holding slot. In embodiments, the presence
of the key member in the key holding slot defined by the key
holding portion alters an angle of flux lines in the magnetic field
produced by the magnets at the magnetic field sensor. For example,
the flux lines in the magnetic field produced by the magnets may
have a first angle at the magnetic field sensor while the key
member is present in the key holding slot and a second angle at the
magnetic field sensor while the key member is absent from the key
holding slot.
[0007] The above summary is not intended to describe each
illustrated embodiment or every implementation of the present
disclosure.
DESCRIPTION OF THE DRAWINGS
[0008] The drawings included in the present application are
incorporated into, and form part of, the specification. They
illustrate embodiments of the present disclosure and, along with
the description, serve to explain the principles of the disclosure.
The drawings are only illustrative of certain embodiments and do
not limit the disclosure.
[0009] FIG. 1 is a top, front, left perspective view of a throwable
robot in accordance with the detailed description.
[0010] FIG. 2 is a partially exploded perspective view showing a
key member and a throwable robot that is activated and/or
deactivated using the key member.
[0011] FIG. 3 is a perspective view showing a portion of a
throwable robot. In the embodiment of FIG. 3, the wheels have been
removed for purposes of illustration.
[0012] FIG. 4 is an enlarged view showing a portion of the
throwable robot shown in FIG. 3.
[0013] FIG. 5 is an additional view showing the portion of the
throwable robot shown in FIG. 4. In the embodiment of FIG. 5, a
portion of the throwable robot has been removed. A key member, a
key receiving slot, and a key retaining mechanism are visible in
FIG. 5.
[0014] FIG. 6A and FIG. 6B are perspective views showing a key
member and a portion of a throwable robot. In FIG. 6A, an arrow is
used to illustrate the insertion motion of the key member. In the
embodiment of FIG. 6B, the key member is shown residing in an
inserted position.
[0015] FIG. 7 is a diagrammatic front view showing a key member and
a portion of a throwable robot that is activated and/or deactivated
using the key member.
[0016] FIG. 8 a is stylized cross-sectional view showing a key
member and a portion of a throwable robot that is activated and/or
deactivated using the key member.
[0017] FIG. 9A is a diagram showing two magnets and lines of
magnetic flux in a magnetic field produced by the two magnets.
[0018] FIG. 9B is a diagram showing two magnets and lines of
magnetic flux in a magnetic field produced by the two magnets.
[0019] FIG. 10A is a diagram showing two magnets and lines of
magnetic flux in a magnetic field produced by the two magnets. The
path taken by the lines of magnetic flux is influenced by a key
member in the embodiment of FIG. 10A.
[0020] FIG. 10B is a diagram showing two magnets and lines of
magnetic flux in a magnetic field produced by the two magnets. The
path taken by the lines of magnetic flux is influenced by a key
member in the embodiment of FIG. 10B.
[0021] FIG. 11 is a diagram showing two magnets and lines of
magnetic flux in a magnetic field produced by the two magnets. The
path taken by the lines of magnetic flux is influenced by a key
member in the embodiment of FIG. 11.
[0022] FIG. 12A is a perspective view of a circuit card assembly
including a printed wiring board and a Hall effect sensor.
[0023] FIG. 12B is a top plan view of a circuit card assembly
including a printed wiring board and a Hall effect sensor.
[0024] While the embodiments of the disclosure are amenable to
various modifications and alternative forms, specifics thereof have
been shown by way of example in the drawings and will be described
in detail. It should be understood, however, that the intention is
not to limit the disclosure to the particular embodiments
described. On the contrary, the intention is to cover all
modifications, equivalents, and alternatives falling within the
spirit and scope of the disclosure.
DETAILED DESCRIPTION
[0025] Referring to FIGS. 1 and 2, in embodiments, a throwable
surveillance robot 100 comprises a pair of axially aligned drive
wheels 102, each wheel 102 having a maximum diameter. The
surveillance robot 100 may have a body 104 comprising a housing 106
extending between the drive wheels 102. In embodiments, the housing
106 is disposed completely within a cylinder defined by the maximum
diameters of the drive wheels 102. In embodiments, the housing 106
defines a housing cavity 108 containing a receiver 110, a
transmitter 112, and a video camera 114 connected to the
transmitter 112. The housing 106 may include a key holding portion
116 defining a key holding slot 118 having a key member insertion
and withdrawal axis. In embodiments, throwing of the surveillance
robot 100 is facilitated by a design providing a total weight of
less than six pounds.
[0026] Referring to FIGS. 6A through 10B, in embodiments, the
surveillance robot 100 comprises a first magnet 130 and a second
magnet 130 disposed inside the housing cavity 108. The magnets 130
may provide a magnetic flux field. Each magnet 130 may be located
near the key holding slot 118 with a wall portion of the housing
106 extending between each magnet 130 and the key holding slot 118.
The surveillance robot 100 may also comprise a key member 120
conforming to the key holding slot 118. In embodiments, the key
member 120 comprises a material with a relative electromagnetic
permeability greater than 500 so that the magnetic flux field
produced by the magnets 130 changes when the key member 120 is
disposed in the key holding slot 118. In embodiments, the magnets
130 produce a first, undeformed magnetic field 122 while the key
member 120 is disposed in the key holding slot 118 and the magnets
130 produce a second, deformed magnetic field 124 while the key
member 120 is not disposed in the key holding slot 118.
[0027] Referring to FIGS. 6A, 8, 12A, and 12B, in embodiments, the
surveillance robot 100 comprises a magnetic field sensor 126
disposed inside the housing cavity 108. The magnetic field sensor
126 may be, for example, positioned between the first magnet 130
and the second magnet 130. In embodiments, the magnetic field
sensor 126 provides a first output signal when the first,
undeformed magnetic field 122 is present and a second output signal
when the second, deformed magnetic field 124 is present. In some
embodiments, the first output signal is a logical one and the
second output signal is a logical zero. In other embodiments, the
first output signal is a logical zero and the second output signal
is a logical one. In embodiments, the housing 106 includes a wall
portion separating the key holding slot 118 from the housing cavity
108. In embodiments, each magnet 130 is located near the key
holding slot 118 with the wall portion of the housing 106 extending
between each magnet 130 and the key holding slot 118.
[0028] Referring to FIGS. 6A, 8, 10A, and 10B, the magnetic field
sensor 126 may comprise, for example, a Hall effect sensor 128. In
embodiments, the presence of the key member 120 in the key holding
slot 118 defined by the key holding portion 116 alters a magnitude
of the magnetic field produced by the magnets 130 at the magnetic
field sensor 126. For example, the magnetic field produced by the
magnets 130 may have a first magnitude at the magnetic field sensor
126 while the key member 120 is present in the key holding slot 118
and a second magnitude at the magnetic field sensor 126 while the
key member 120 is absent from the key holding slot 118. In
embodiments, the presence of the key member 120 in the key holding
slot 118 defined by the key holding portion 116 alters an angle of
flux lines in the magnetic field produced by the magnets 130 at the
magnetic field sensor 126. For example, the flux lines in the
magnetic field produced by the magnets 130 may have a first angle
at the magnetic field sensor 126 while the key member 120 is
present in the key holding slot 118 and a second angle at the
magnetic field sensor 126 while the key member 120 is absent from
the key holding slot 118.
[0029] Referring to FIGS. 5, 6A, 6B, and 7, in embodiments, the
throwable surveillance robot comprises a key retention mechanism
132 comprising a key engaging element 134 that is slidingly
supported by the housing and one or more coil springs 136 that bias
the key engaging element 134 toward the key member. In embodiments,
the key member defines a notch 138 that is positioned and
dimensioned to receive a distal portion of the key engaging element
134.
[0030] Referring to FIGS. 1 and 2, a forward direction Z and a
rearward direction -Z are illustrated using arrows labeled "Z" and
"-Z," respectively. A port direction X and a starboard direction -X
are illustrated using arrows labeled "X" and "-X," respectively. An
upward direction Y and a downward direction -Y are illustrated
using arrows labeled "Y" and "-Y," respectively. The directions
illustrated using these arrows may be conceptualized, by way of
example and not limitation, from the point of view of a viewer
looking through the camera of the robot. The directions illustrated
using these arrows may be applied to the apparatus shown and
discussed throughout this application. The port direction may also
be referred to as the portward direction. In one or more
embodiments, the upward direction is generally opposite the
downward direction. In one or more embodiments, the upward
direction and the downward direction are both generally orthogonal
to the ZX plane defined by the forward direction and the starboard
direction. In one or more embodiments, the forward direction is
generally opposite the rearward direction. In one or more
embodiments, the forward direction and the rearward direction are
both generally orthogonal to the XY plane defined by the upward
direction and the starboard direction. In one or more embodiments,
the starboard direction is generally opposite the port direction.
In one or more embodiments, the starboard direction and the port
direction are both generally orthogonal to the ZY plane defined by
the upward direction and the forward direction. Various
direction-indicating terms are used herein as a convenient way to
discuss the objects shown in the figures. It will be appreciated
that many direction indicating terms are related to the instant
orientation of the object being described. It will also be
appreciated that the objects described herein may assume various
orientations without deviating from the spirit and scope of this
detailed description. Accordingly, direction-indicating terms such
as "upwardly," "downwardly," "forwardly," "backwardly,"
"portwardly," and "starboardly," should not be interpreted to limit
the scope of the invention recited in the attached claims.
[0031] Referring to FIG. 12A and FIG. 12B, a printed wiring board
166 supporting circuitry 164 is shown. FIG. 12A and FIG. 12B may be
collectively referred to as FIG. 12. In the embodiment of FIG. 12,
the printed wiring board 166 comprises a substrate and the
substrate supports a plurality of conductive paths 168 of the
circuitry 164. In the example embodiment shown in FIG. 12, the
circuitry 164 comprises the printed wiring board 166 and a
plurality of electronic components 172 that are electrically
connected to the conductive paths of the printed wiring board 166.
The plurality of electronic components 172 are mechanically fixed
and/or electrically connected to the printed wiring board 166 to
form a circuit card assembly 170. In the embodiments of FIG. 12,
the circuitry 164 includes a Hall effect sensor 128. In the
embodiment of FIG. 12, the Hall effect sensor 128 comprises a
semiconductor chip (not shown) disposed inside a casing 140. In the
embodiment of FIG. 12, the Hall effect sensor 128 comprises three
terminals 142.
[0032] In embodiments, two magnets are spaced some distance apart
horizontally at a common elevation, with magnetic fields oriented
vertically and with opposite polarities. Their locations are
constrained by a non-ferromagnetic material which does not
appreciably affect the resulting magnetic field relative to free
space. Viewed from the side, the field lines representing the
resulting magnetic field between the magnets forms a roughly
elliptical shape, with a magnetic field strength at the very center
of the distance between the magnets of ideally zero. In
embodiments, a vertically-polarized magnetic sensor is placed
midway between the two magnets, coplanar or slightly lower than
coplanar with the tops of the magnets. This sensor may have a
digital output that trips at a certain vertical magnetic field
strength, and releases at a second vertical magnetic field
strength. In embodiments, the sensor is not tripped due to the very
low (near zero) vertical field strength where the sensor is
located. Referring to FIG. 9A and FIG. 9B, two illustrations of
magnetic field lines are shown. The black-and-white illustration
shows magnetic field lines, and the color illustration shows the
strength of the vertical component of the magnetic field (red is
one polarity, purple is the opposite polarity, and yellow is a bin
near zero). Referring to FIG. 10A and FIG. 10B, two illustrations
of magnetic field lines are shown. FIG. 10A and FIG. 10B are
similar to FIG. 9A and FIG. 9B, but with a plate made of
ferromagnetic material (e.g., steel) placed near the tops of the
magnets (e.g. on the other side of an outer wall of the device,
e.g., 0.030'' away). This plate or key member it placed such that
it completely covers one magnet and the sensor, but does not extend
over the second magnet. Due to the symmetry of the construction,
the system could function regardless of which magnet is covered.
The plate or key member disturbs the symmetry of the first
configuration, resulting in a warped magnetic field. The resulting
field has a substantially vertical component in the center of the
system, where the magnetic field sensor is. This disturbance is of
a large enough magnitude for the magnetic field sensor to detect
its presence.
[0033] Referring to FIG. 11, another embodiment includes a plate or
key member extending over two magnets and the magnetic field
sensor. This restores symmetry to the magnetic field, and the
sensor releases or does not trip due to the low field strength
detected.
[0034] Because the sensor only trips in the second configuration,
the surrounding structure of the device and the plate or key member
can be constructed so as to reliably put the plate or key member at
the correct location to detect it. In embodiments, a non-authorized
user may have difficulty tripping the sensor, without the plate or
key member. In embodiments, the sensor may not be tripped with a
piece of ferromagnetic material, because the system is sensitive to
the specific location and orientation of the plate or key member.
In this way, the system can be used as a tamper-resistant means to
turn a device on or off.
[0035] In embodiments, the two magnets may be, for instance, grade
N52 Neodymium-Iron-Boron cylindrical magnets, with a diameter of
1/4'' and height of 1/4''. In embodiments, the field strength at
the sensor location may be 2 mT without the plate or key member in
place, and 100 mT with the plate or key member in place. In
embodiments, the magnetic field sensor comprises a hall-effect type
sensor with a typical trip point of 60 mT and a typical release
point of 45 mT. Examples of hall-effect sensors that may be
suitable in some applications include the Honeywell SL353LT
hall-effect sensor. In embodiments, the housing wall thickness may
be 0.030 inch. In embodiments, the plate or key member may be on
the order of 1/16 inch thick. In embodiments, spacing between the
magnets may be 0.700 inch center-to-center. Because of the
symmetrical construction of the system, there may be wide latitude
in selecting magnet strength and spacing. In embodiments, the above
parameters may vary .+-.50%. In embodiments, the above parameters
may vary by -60% and +150%.
[0036] An example alternate arrangement could include a single
magnet, with the sensor placed at a specific distance from the
magnet. This arrangement would rely on the exact strength of the
magnetic field and the trip and release points of the sensors (the
two-magnet design uses symmetry to be more robust to these
factors). As a result, tolerances for the magnet, sensor, and
relative placement of the elements would be important to the
successful operation. This arrangement would not possess the
tamper-resistant characteristics that arise from embodiments
described above.
[0037] Note that the description herein refers to
horizontal/vertical orientations for the sake of orienting
components with respect to one another, but this does not restrict
function of this system (e.g., the whole system could be rotated
through an arbitrary angle along any axis and still function).
[0038] In embodiments, the plate or key member is retained in place
by the magnetic force of the magnets. In an embodiment, the plate
slides into a slot, the slot constraining the key member. The key
member in the slot may be further retained by magnetic force from
the one or more magnets.
[0039] In embodiments, the robot may include a plate extending
across the two magnets, on the side of the magnets opposite the key
member. The plate may comprise a material with an electromagnetic
permeability that allows magnetic flux lines to flow through the
plate. The use of this plate may allow the two magnets to be
shorter (relative to an arrangement without the plate). The shorter
magnets may facilitate a thinner total thickness for the
arrangement including the two magnets, the plate, the sensor and
the key member.
[0040] In embodiments the robot wheels are less than 6 inches in
diameter. In embodiments, less than 5 inches. In embodiments, less
than 4 inches. In embodiments, the robot weighs less than 5
pounds.
[0041] The following United States patents are hereby incorporated
by reference herein: U.S. Pat. Nos. 10,046,819, 9,061,544,
6,548,982, 6,502,657, USD637217, and USD626577. Components
illustrated in such patents may be utilized with embodiments
herein. Incorporation by reference is discussed, for example, in
MPEP section 2163.07(B).
[0042] The patents and other references mentioned above in all
sections of this application are herein incorporated by reference
in their entirety for all purposes.
[0043] All of the features disclosed in this specification
(including the references incorporated by reference, including any
accompanying claims, abstract and drawings), and/or all of the
steps of any method or process so disclosed, may be combined in any
combination, except combinations where at least some of such
features and/or steps are mutually exclusive.
[0044] Each feature disclosed in this specification (including
references incorporated by reference, any accompanying claims,
abstract and drawings) may be replaced by alternative features
serving the same, equivalent or similar purpose, unless expressly
stated otherwise. Thus, unless expressly stated otherwise, each
feature disclosed is one example only of a generic series of
equivalent or similar features.
[0045] The invention is not restricted to the details of the
foregoing embodiment(s). The invention extends to any novel one, or
any novel combination, of the features disclosed in this
specification (including any incorporated by reference references,
any accompanying claims, abstract and drawings), or to any novel
one, or any novel combination, of the steps of any method or
process so disclosed. The above references in all sections of this
application are herein incorporated by references in their entirety
for all purposes.
[0046] Although specific examples have been illustrated and
described herein, it will be appreciated by those of ordinary skill
in the art that any arrangement calculated to achieve the same
purpose could be substituted for the specific examples shown. This
application is intended to cover adaptations or variations of the
present subject matter. Therefore, it is intended that the
invention be defined by the attached claims and their legal
equivalents, as well as the following illustrative aspects. The
above described aspects embodiments of the invention are merely
descriptive of its principles and are not to be considered
limiting. Further modifications of the invention herein disclosed
will occur to those skilled in the respective arts and all such
modifications are deemed to be within the scope of the
invention.
* * * * *