US 12,030,178 B2
Mobile robot sensor configuration
Justine Rembisz, San Carlos, CA (US); and Alex Shafer, San Francisco, CA (US)
Assigned to Google LLC, Mountain View, CA (US)
Filed by Google LLC, Mountain View, CA (US)
Filed on Jan. 31, 2023, as Appl. No. 18/162,338.
Application 18/162,338 is a continuation of application No. 16/528,123, filed on Jul. 31, 2019, granted, now 11,597,104.
Prior Publication US 2023/0173695 A1, Jun. 8, 2023
Int. Cl. G06F 17/00 (2019.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); G01S 7/4865 (2020.01); G01S 17/931 (2020.01)
CPC B25J 19/022 (2013.01) [B25J 13/089 (2013.01); B25J 19/027 (2013.01); G01S 7/4865 (2013.01); G01S 17/931 (2020.01)] 17 Claims
OG exemplary drawing
 
1. A method for controlling navigation of a mobile robotic device, the method comprising:
causing the mobile robotic device to travel on a current direction of travel;
detecting, using at least one dimensional (1D) time-of-flight (ToF) sensor oriented at a downward angle on the mobile robotic device, that a change in a height of a ground surface exceeds a threshold amount;
based on detecting that the change in the height of the ground surface exceeds the threshold amount, stopping the mobile robotic device from traveling on the current direction of travel;
determining a new direction of travel for the mobile robotic device;
causing the mobile robotic device to travel in the new direction of travel; and
based on a rate at which sensor data is pulled from the at least one 1D ToF sensor, determining a maximum velocity for the mobile robotic device.