Abstract: An autonomous mobile device has a tower extending from a main body. The tower pans from left to right. An extensible mast may extend through, and pan with, the tower. An upper section is attached to the tower by a hinge and may tilt with respect to the tower. The upper section may include a touchscreen or other devices. An assembly with separate pan and tilt motors allows for the tower and attached upper section to pan while also allowing the upper section to tilt independently of the panning motion. The tilt motor is within the portion of the assembly rotated by the pan motor. The tilt motor drives a worm gear in the tower to rotate a tilt axle. An asymmetric friction hinge connects to the upper section to the tilt axle. Rotating the tilt motor rotates the worm gear, rotating the tilt axle and the attached upper section.

Abstract: An autonomous mobile device has a main body and an extensible mast to raise and lower a payload, such as a camera, relative to the main body. The mast may comprise a set of telescoping sections, with each section comprising two or more pieces that are joined during assembly. A motor moves a flexible rack between a first spool and the mast to raise or lower the mast. For example, during extension a motor-driven pinion engages teeth on the flexible rack, pulling the rack from the first spool and pushing up the mast. A cable stored on a second spool may be extended and retracted with the flexible rack. The cable transfers one or more of data or power between the main body and the payload. A sensor may be used to detect features on the flexible rack to provide data about how far the flexible rack has been extended.