TRACKS WITH OPTICAL MARKERS
A track system for a robotic vehicle is described. The track system includes a set of track pieces that each include a set of track coupling components to couple the track pieces in the set of track pieces together to form a track for the robotic vehicle to traverse; and a set of optical markers that each include a first set of marker coupling components, wherein the set of track pieces include a second set of marker coupling components that are complementary to the first set of marker coupling components to couple the set of optical markers to the set of track pieces.
This application claims the benefit of U.S. Provisional Application No. 62/538,575, filed Jul. 28, 2017, which is hereby incorporated by reference.
TECHNICAL FIELDOne or more embodiments described herein relate to a track system with optical markers designed to provide notifications to a vehicle navigating the track system. Other embodiments are also described herein.
BACKGROUNDTrack systems and vehicles designed to navigate these track systems have been used for transportation and various industrial and consumer applications. Some of the applications that use miniature track systems, such as toy train systems, are based on interconnected assemblies of individual track pieces to serve either certain entertainment or educational purposes. While physical configurations of such track systems can be customized to user's preferences and objectives, these track systems lack the ability to provide an inexpensive and easily configurable approach to achieve a higher degree of interactivity between the track system and an associated vehicle. This interactivity could assist in providing the user with additional controls and customization of the vehicle's actions.
SUMMARYA track system for a robotic vehicle according to some embodiments is described. The track system may comprise a set of track pieces that each include a set of track coupling components to couple the track pieces in the set of track pieces together to form a track for the robotic vehicle to traverse; and a set of optical markers that each include a first set of marker coupling components, wherein the set of track pieces include a second set of marker coupling components that are complementary to the first set of marker coupling components to couple the set of optical markers to the set of track pieces.
A track piece according to some embodiments for use in assembling a track for a robotic vehicle is described. The track piece may comprise one or more male elements that each form a protruding joint, wherein each male element in the one or more male elements includes a lip along an outer edge of a corresponding protruding joint; and one or more female elements that each form a recessed joint and are complementary with the protruding joints, wherein each female element in the one or more female elements includes a set of tabs along a corresponding recessed joint, and wherein the set of tabs are placed in an alternating sequence along a top edge and a bottom edge of the recessed joint such that tabs along the top edge are unaligned with tabs along the bottom edge.
The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the disclosure includes all systems and methods that can be practiced from all suitable combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly pointed out in the claims filed with the application. Such combinations have particular advantages not specifically recited in the above summary.
The following figures use like reference numbers to refer to like elements. Although the following figures depict various exemplary embodiments, alternative embodiments are within the spirit and scope of the appended claims. In the figures:
In the following description, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In other instances, well-known circuits, structures and techniques have not been shown in detail in order not to obscure the understanding of this description. Those of ordinary skill in the art, with the included descriptions, will be able to implement appropriate functionality without undue experimentation.
References in the specification to “one embodiment,” “an embodiment,” “an example embodiment,” etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
In the following description and claims, the terms “coupled” and “connected,” along with their derivatives, may be used. It should be understood that these terms are not intended as synonyms for each other. “Coupled” is used to indicate that two or more elements, which may or may not be in direct physical or electrical contact with each other, co-operate or interact with each other. “Connected” is used to indicate the establishment of communication between two or more elements that are coupled with each other or a direct physical connection.
As noted above, the track system 100 may include or may be otherwise associated with a vehicle 105 with optical sensing capabilities.
As shown in
As noted above, the vehicle 105 includes a set of optical sensors 203 for detecting optical markers 103, including characteristics of the optical markers 103 (e.g., color, shape, shading, size, etc.). For example, in some embodiments, the set of optical sensors 203 may include one or more photoresistors and/or phototransistors. These photoresistor/phototransistor based optical sensors 203 may be particularly utilized for detecting and/or identifying colors of optical markers 103. For example, these photoresistor/phototransistor based optical sensors 203 may detect the intensity of reflected light from the surface of optical markers 103. As used herein, an optical marker 103 includes an upper surface, which includes an associated shape and/or color, and a lower connecting element for coupling with a portion of the track 101 (in particular, coupling with complementary elements of track pieces 111) according to the preferences of a user. An optical marker 103 with a lighter surface color reflects a higher intensity of light compared to another optical marker 103 with a darker surface color. Accordingly, the intensity level returned by an optical sensor 203 may be used for determining the surface color of an optical marker 103. In some embodiments, an optical sensor 203 may include an internally or externally integrated light source (e.g., a light emitting diode (LED)) to provide a local illumination of the upper surface of an optical marker 103 even in dark ambient light conditions, such that the optical sensor 203 is able to detect reflected light from the upper surface of an optical marker 103. In some embodiments, one or more photoresistor/phototransistor based optical sensors 203 may be an infrared (IR) photoresistor or phototransistor capable of detecting the intensity of infrared reflected light from an optical marker 103 illuminated by an IR LED integrated in or otherwise associated with an optical sensor 203.
Based on reflected light data collected by a set of optical sensors 203 (sometimes referred to as sensor data or raw sensor data) and transmitted to the main processor 201, the optical sensing unit 211 may classify the surface color of an optical marker 103. For example, using a thresholding algorithm the optical sensing unit 211 may determine the surface color of an optical marker 103 (e.g., an intensity level between a first set of threshold values corresponds to a first color, an intensity level between a second set of threshold values corresponds to a second color, etc.). In some embodiments, the optical sensing unit 211 may include data processing and calibration routines to improve the robustness of color classification under different ambient lighting conditions.
Although described as photoresistor/phototransistor based optical sensors 203, in some embodiments, the set of optical sensors 203 included in the vehicle 105 may include one or more digital color sensors, which includes multiple photodiode segments for red, green, blue, and clear channels and has the computational capacity to simultaneously integrate and output color sensor data to the processor 201 using a communication interface (e.g., a two-wire Inter-Integrated Circuit (I2C) serial bus). These digital color based optical sensors 203 enable the representation of the optical markers 103 using a finite number of different colors (e.g., red, green, blue, etc.). The number of reliably detectable colors by a vehicle 105 is dependent on the performance characteristics of the set of optical sensors 203 and the processor 201, as well as the algorithmic sophistication of the optical sensing unit 211.
In some embodiments, the set of optical sensors 203 included in the vehicle 105 may include one or more low resolution digital cameras, which are each capable of capturing two-dimensional (2D) images in a form of a 2D matrix of data of light intensities in either grayscale (in the visible or infrared spectrum) or red-green-blue (RGB) color forms. Such low resolution digital camera based optical sensors 203 enable optical markers 103 to be represented in 2D patterns (e.g., a pattern that includes a set of shapes that each are represented with a color (e.g., black or white)). An example of such a 2D optical marker 103 is shown in
Although not shown in
Additionally, although not shown in
Turning now to
Although shown and described in a particular order, in some embodiments the operations of the method 400 may be performed in a different order. For example, in some embodiments, two or more operations of the method 400 may be performed concurrently or in partially overlapping time periods.
Although the method 400 is described in relation to a single vehicle 105 navigating the track 101, in other embodiments, the method 400 may be simultaneously performed (or at least performed in partially overlapping time periods) in relation to two or more separate vehicles 105 that are traversing the track 101.
As shown in
After assembling the track 101 at operation 401, one or more optical markers 103 are placed by a user onto desired locations/positions of the track 101 at operation 403. In some embodiments, individual optical markers 103 may be placed on the track 101, while in other embodiments sequences of optical markers 103 may be placed on the track 101 (e.g., a group of optical markers 103 that are placed directly adjacent to each other on the track 101).
At operation 405, the vehicle 105 is placed on the track 101 such that the vehicle 105 can begin traversing the track 101 to detect optical markers 103. In particular, as described above, the vehicle 105 may include optical sensing abilities that allow the vehicle to detect optical markers 103 as the vehicle traverses the track 101.
At operation 407, the vehicle 105 continuously gathers and/or generates sensor data while traversing the track 101. For example, using the electro-mechanical mechanism 205, the vehicle 105 may traverse the track 101 to move over or otherwise proximate to a number of optical markers 103. During this movement, the set of optical sensors 203 of the vehicle 105 may generate sensor data corresponding to optical markers 103 or other areas of the track 101.
At operation 409, the generated sensor data is continuously processed by the optical sensing unit 211 to determine when an optical marker 103 has been detected. When the optical sensing unit 211 determines at operation 409 that the sensor data does not correspond to an optical marker 103 (i.e., the optical sensing unit 211 determines that an optical marker 103 was not detected at operation 409), the method 400 may return to operation 407 to continue to generate sensor data while the vehicle 105 traverses the track 101. In contrast, when the optical sensing unit 211 determines at operation 409 that the sensor data corresponds to an optical marker 103 (i.e., the optical sensing unit 211 determines that an optical marker 103 was detected at operation 409), the method 400 may move to operation 411.
At operation 411, the vehicle 105 may perform a set of actions associated with the detected optical marker 103. In one embodiment, such actions may be stored in the memory unit 209 in a form of application programs or functions. In other embodiments, the application programs or functions representing various actions may be stored externally. For example, application programs or functions representing various actions may be stored within a device connected wirelessly to the vehicle 105 via an application programming interface (API). Each of the actions may be linked/mapped or otherwise associated with a set of optical markers 103 and/or a set of sequences of optical markers 103. Examples of various actions triggered using the optical markers 103 (i.e., upon detection of a particular optical marker 103 at operation 409) and performed by the vehicle 105 may include 1) the vehicle 105 reversing direction (i.e., the vehicle 105 moving in the opposite direction along the track 101); 2) the vehicle 105 changing speed (e.g., the vehicle 105 accelerating to increase speed along the track 101 or decelerating to decrease speed along the track 101); 3) the vehicle 105 pausing movement along the track 101; 4) the vehicle 105 performing a special maneuver (e.g., the vehicle 105 stopping and performing a shaking maneuver by moving the vehicle 105 forwards and backwards by a prescribed distance (e.g., one centimeter) three times while playing back a sound effect); 5) the vehicle 105 changing an LED color or displaying an animation via a set of LEDs or another display component; 6) the vehicle 105 playing a sound; and 7) the vehicle 105 activating or deactivating an actuator or an electro-magnet component (e.g., activating or deactivating an electro-magnet component to decouple an associated device from the vehicle 105).
Following operation 411, the method 400 may return to operation 407 to continue generating sensor data while the vehicle 105 is moving across or otherwise traversing the track 101. The method 400 may therefore continue indefinitely until an end condition has been reached (e.g., the end of the track 101 is reached or the vehicle 105 is stopped by a user).
Depending on the mechanical design of the vehicle 105 and its applications, the track 101 may be made from different materials, use different track pieces 111 and corresponding rail types to guide the vehicle 105, and utilize different track piece assembly methods. In embodiments in which the track system 100 is miniaturized (e.g., when the track system 100 is a toy train system), the track 101 may be made from injection molded plastic or wooden track pieces 111. In embodiments that require a higher degree of reliability and longevity in comparison to toy applications (e.g., when the track system 100 is used for security and/or transportation/delivery applications), the track pieces 111 that form the track 101 may be made using metals (e.g., aluminum or stainless steel) or metal alloys.
In some embodiments, the track system 100 may contain a track 101 with elements designed for the placement of removable optical markers 103. Namely, elements may be integrated into the track pieces 111 for removably coupling optical markers 103 to the track 101. For example,
In another embodiment shown in
As noted above, in some embodiments, optical markers 103 may be of different shapes and sizes. For example, as shown in
In some embodiments, a combination/sequence 1201 of optical markers 103 may be assembled to from a continuous sequence of two or more individual optical markers 103, as shown in
Depending on application needs and performance requirements, the track 101 may utilize various rail types.
Although shown with recessed rails 503, in some embodiments, the rails 503 may be protruding/embossed on track pieces 111. For example,
In one embodiment shown in
In another example embodiment, the width of the track piece 111B may be sufficiently wider than the width of the vehicle 105 such that the outer ridges 1401 always stay around the exterior of the vehicle 105 and would not be limited by the clearance height of the vehicle 105.
The reliability of the optical marker 103 detection by the vehicle 105 traversing track systems 100 may be adversely affected by the presence of a strong ambient light.
As discussed above, in some embodiments, tracks 101 are assembled from individual track pieces 111. For example, toy train track systems allow the user to build custom tracks 101 from various different types of track pieces 111 (e.g., straights track pieces 111, curved track pieces 111, and split/junction track pieces 111). Split/junction track pieces 111 form a junction to either divide a single set of rails into multiple sets of rails or to merge multiples sets of rails into a single set of rails as shown in the example of
In some embodiments, the male joint 1701 may include a lip 1705 along an outer edge, while the opening of the female joint 1703 may have alternating knobs/tabs 1707 placed along a top edge and a bottom edge of the opening of the female joint 1703 (e.g., the knobs/tabs 1707A are placed on a top edge of the opening of the female joint 1703 and the knobs/tabs 1707B are placed on a bottom edge of the opening of the female joint 1703). Collectively, the lip 1705, the knobs/tabs 1707A along a top edge, and the knobs/tabs 1707B along a bottom edge provide an additional locking mechanism when the track pieces 111 are snapped together along the joints 1701 and 1703. Such a mechanism provides improved vertical alignment between track pieces 111 while maintaining a surface of a track 101 formed by the track pieces 111 continuously smooth and flat even if the track 101 is assembled on an uneven surface (e.g., assembled on a carpet). The alternating placement of the knobs/tabs 1707A and 1707B allow the core and the cavity of a plastic injection mold to form these elements in plastic and come apart without catching when ejecting from the mold. The quantity and size of the knobs/tabs 1707A and 1707B can be varied in terms of the lengths, heights, and extension from the opening of the female joint 1703 as long as the knobs/tabs 1707A and the knobs/tabs 1707B remain non-overlapping from a top-down/overhead perspective and the knobs/tabs 1707A/1707B can form a coupling joint with the lip 1705. In particular, a set of knobs/tabs 1707A are positioned along a top edge of the recessed female joint 1703 and a set of knobs/tabs 1707B are positioned along a bottom edge of the recessed female joint 1703 such that knobs/tabs 1707A along the top edge are unaligned with knobs/tabs 1707B along the bottom edge.
The shape of the knobs/tabs 1707A/1707B can be varied, including, for example, rounded and rectangular shapes. The knobs/tabs 1707A/1707B are complementary to the shape of the lip 1705 to form a connection/joint. The tightness of such a connection/joint may be affected by the shape and the size of the knobs/tabs 1707A/1707B and the lip 1705 and is optimized to make the connection/joint assembly easy for the user, maintain the mechanical integrity of the knobs/tabs 1707A/1707B and the lip 1705 over the expected lifetime of the track 101, and provide a sufficient joint strength to maintain the track 101 flat.
As shown above, several embodiments for a track system for a robotic vehicle are described herein. Similar or identical example embodiments are provided below. Example 1 provides an exemplary embodiment of a track system for a robotic vehicle, the track system comprising: a set of track pieces that each include a set of track coupling components to couple the track pieces in the set of track pieces together to form a track for the robotic vehicle to traverse; and a set of optical markers that each include a first set of marker coupling components, wherein the set of track pieces include a second set of marker coupling components that are complementary to the first set of marker coupling components to couple the set of optical markers to the set of track pieces.
Example 2 includes the substance of the exemplary track system of Example 1, wherein each optical marker in the set of optical markers includes a top surface that includes one or more of (1) a surface color and (2) a set of two-dimensional shapes on the top surface.
Example 3 includes the substance of the exemplary track system of Example 2, wherein the top surface of each optical marker is formed from a shape selected from a set of shapes.
Example 4 includes the substance of the exemplary track system of Example 2, wherein the first set of marker coupling components are on a bottom surface that is opposite the top surface.
Example 5 includes the substance of the exemplary track system of Example 4, wherein the first set of marker coupling components includes a set of protruding elements.
Example 6 includes the substance of the exemplary track system of Example 5, wherein (1) a first protruding element in the set of protruding elements is located adjacent a first outside edge of the bottom surface of the optical marker, (2) a first protruding element in the set of protruding elements is located adjacent a second outside edge of the bottom surface of the optical marker, which is opposite the first outside edge, and (3) third and fourth protruding elements in the set of protruding elements are located between the first protruding element and the second protruding element on the bottom surface such that the first protruding element, the second protruding element, the third protruding element, and the fourth protruding element form a symmetric structure about an axis of the bottom surface.
Example 7 includes the substance of the exemplary track system of Example 1, wherein the second set of marker coupling components includes a first set of slots through track pieces in the set of track pieces.
Example 8 includes the substance of the exemplary track system of Example 7, wherein each track piece in the set of track pieces includes a set of grooves or a set of rails for receiving wheels of the robotic vehicle.
Example 9 includes the substance of the exemplary track system of Example 8, wherein the set of grooves is a mono-groove system for receiving wheels of the robotic vehicle.
Example 10 includes the substance of the exemplary track system of Example 8, wherein the set of rails is a mono-rail system for receiving wheels of the robotic vehicle.
Example 11 includes the substance of the exemplary track system of Example 8, wherein the set of grooves is a dual-groove system for receiving wheels of the robotic vehicle.
Example 12 includes the substance of the exemplary track system of Example 8, wherein the set of rails is a dual-rail system for receiving wheels of the robotic vehicle.
Example 13 includes the substance of the exemplary track system of Example 11, wherein the first set of slots are placed between each groove in the set of grooves.
Example 14 includes the substance of the exemplary track system of Example 13, wherein a first slot in the first set of slots is adjacent a first groove in the set of grooves and a second slot in the first set of slots is adjacent a second groove in the set of grooves.
Example 15 includes the substance of the exemplary track system of Example 14, wherein the second set of marker coupling components includes a second set of slots through the track piece.
Example 16 provides an exemplary embodiment of a track piece for use in assembling a track for a robotic vehicle, the track piece comprising: one or more male elements that each form a protruding joint, wherein each male element in the one or more male elements includes a lip along an outer edge of a corresponding protruding joint; and one or more female elements that each form a recessed joint and are complementary with the protruding joints, wherein each female element in the one or more female elements includes a set of tabs along a corresponding recessed joint, and wherein the set of tabs are placed in an alternating sequence along a top edge and a bottom edge of the recessed joint such that tabs along the top edge are unaligned with tabs along the bottom edge.
Example 17 includes the substance of the exemplary track piece of Example 16, further comprising: a set of slits surrounding recessed joints of the one or more female elements.
Example 18 includes the substance of the exemplary track piece of Example 16, further comprising: a set of grooves or a set of rails for receiving wheels of the robotic vehicle.
Example 19 includes the substance of the exemplary track piece of Example 18, wherein the track piece is a junction track piece that splits a first set of grooves into a second set of grooves and a third set of grooves at a junction.
Example 20 includes the substance of the exemplary track piece of Example 18, wherein the track piece is a junction track piece that splits a first set of rails into a second set of rails and a third set of rails at a junction.
Some portions of the preceding detailed descriptions have been presented in terms of algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations are the ways used by those skilled in the data processing arts to most effectively convey the substance of their work to others skilled in the art. An algorithm is here, and generally, conceived to be a self-consistent sequence of operations leading to a desired result. The operations are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, combined, compared, and otherwise manipulated. It has proven convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like.
It should be borne in mind, however, that all of these and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. The present disclosure can refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage systems.
The present disclosure also relates to an apparatus for performing the operations herein. This apparatus can be specially constructed for the intended purposes, or it can include a general-purpose computer selectively activated or reconfigured by a computer program stored in the computer. Such a computer program can be stored in a computer readable storage medium, such as, but not limited to, any type of disk including floppy disks, optical disks, CD-ROMs, and magnetic-optical disks, read-only memories (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, or any type of media suitable for storing electronic instructions, each coupled to a computer system bus.
The algorithms and displays presented herein are not inherently related to any particular computer or other apparatus. Various general-purpose systems can be used with programs in accordance with the teachings herein, or it can prove convenient to construct a more specialized apparatus to perform the method. The structure for a variety of these systems will appear as set forth in the description below. In addition, the present disclosure is not described with reference to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the disclosure as described herein.
The present disclosure can be provided as a computer program product, or software, that can include a machine-readable medium having stored thereon instructions, which can be used to program a computer system (or other electronic devices) to perform a process according to the present disclosure. A machine-readable medium includes any mechanism for storing information in a form readable by a machine (e.g., a computer). In some embodiments, a machine-readable (e.g., computer-readable) medium includes a machine (e.g., a computer) readable storage medium such as a read only memory (“ROM”), random access memory (“RAM”), magnetic disk storage media, optical storage media, flash memory components, etc.
In the foregoing specification, embodiments of the disclosure have been described with reference to specific example embodiments thereof. It will be evident that various modifications can be made thereto without departing from the broader spirit and scope of embodiments of the disclosure as set forth in the following claims. The specification and drawings are, accordingly, to be regarded in an illustrative sense rather than a restrictive sense.
Claims
1. A track system for a robotic vehicle, the track system comprising:
- a set of track pieces that each include a set of track coupling components to couple the track pieces in the set of track pieces together to form a track for the robotic vehicle to traverse; and
- a set of optical markers that each include a first set of marker coupling components,
- wherein the set of track pieces include a second set of marker coupling components that are complementary to the first set of marker coupling components to couple the set of optical markers to the set of track pieces.
2. The track system of claim 1, wherein each optical marker in the set of optical markers includes a top surface that includes one or more of (1) a surface color and (2) a set of two-dimensional shapes on the top surface.
3. The track system of claim 2, wherein the top surface of each optical marker is formed from a shape selected from a set of shapes.
4. The track system of claim 2, wherein the first set of marker coupling components are on a bottom surface that is opposite the top surface.
5. The track system of claim 4, wherein the first set of marker coupling components includes a set of protruding elements.
6. The track system of claim 5, wherein (1) a first protruding element in the set of protruding elements is located adjacent a first outside edge of the bottom surface of the optical marker, (2) a first protruding element in the set of protruding elements is located adjacent a second outside edge of the bottom surface of the optical marker, which is opposite the first outside edge, and (3) third and fourth protruding elements in the set of protruding elements are located between the first protruding element and the second protruding element on the bottom surface such that the first protruding element, the second protruding element, the third protruding element, and the fourth protruding element form a symmetric structure about an axis of the bottom surface.
7. The track system of claim 1, wherein the second set of marker coupling components includes a first set of slots through track pieces in the set of track pieces.
8. The track system of claim 7, wherein each track piece in the set of track pieces includes a set of grooves or a set of rails for receiving wheels of the robotic vehicle.
9. The track system of claim 8, wherein the set of grooves is a mono-groove system for receiving wheels of the robotic vehicle.
10. The track system of claim 8, wherein the set of rails is a mono-rail system for receiving wheels of the robotic vehicle.
11. The track system of claim 8, wherein the set of grooves is a dual-groove system for receiving wheels of the robotic vehicle.
12. The track system of claim 8, wherein the set of rails is a dual-rail system for receiving wheels of the robotic vehicle.
13. The track system of claim 11, wherein the first set of slots are placed between each groove in the set of grooves.
14. The track system of claim 13, wherein a first slot in the first set of slots is adjacent a first groove in the set of grooves and a second slot in the first set of slots is adjacent a second groove in the set of grooves.
15. The track system of claim 14, wherein the second set of marker coupling components includes a second set of slots through the track piece.
16. A track piece for use in assembling a track for a robotic vehicle, the track piece comprising:
- one or more male elements that each form a protruding joint, wherein each male element in the one or more male elements includes a lip along an outer edge of a corresponding protruding joint; and
- one or more female elements that each form a recessed joint and are complementary with the protruding joints,
- wherein each female element in the one or more female elements includes a set of tabs along a corresponding recessed joint, and
- wherein the set of tabs are placed in an alternating sequence along a top edge and a bottom edge of the recessed joint such that tabs along the top edge are unaligned with tabs along the bottom edge.
17. The track piece of claim 16, further comprising:
- a set of slits surrounding recessed joints of the one or more female elements.
18. The track piece of claim 16, further comprising:
- a set of grooves or a set of rails for receiving wheels of the robotic vehicle.
19. The track piece of claim 18, wherein the track piece is a junction track piece that splits a first set of grooves into a second set of grooves and a third set of grooves at a junction.
20. The track piece of claim 18, wherein the track piece is a junction track piece that splits a first set of rails into a second set of rails and a third set of rails at a junction.
Type: Application
Filed: Jul 27, 2018
Publication Date: Sep 10, 2020
Inventor: Armen KROYAN (Redondo Beach, CA)
Application Number: 16/634,172