Steering system for vehicles on grooved tracks

Abstract

A robotic vehicle for traversing a grooved track is described. The robotic vehicle includes a set of one or more axles; a set of wheels coupled to each axle in the set of one or more axles; one or more motors to rotate the set of one or more axles, including the set of wheels of each axle in the set of axles, to propel the robotic vehicle along the grooved track; and a steering system to manage navigation of the robotic vehicle along the grooved track, wherein the steering system controls rotation of the set of one or more axles along respective pivot points to manage steering of the robotic vehicle.

What is claimed is: 
     
         1 . A robotic vehicle for traversing a grooved track, the robotic vehicle comprising:
 a set of one or more axles;   a set of wheels coupled to each axle in the set of one or more axles;   one or more motors to rotate the set of one or more axles, including the set of wheels of each axle in the set of axles, to propel the robotic vehicle along the grooved track; and   a steering system to manage navigation of the robotic vehicle along the grooved track, wherein the steering system controls rotation of the set of one or more axles along respective pivot points to manage steering of the robotic vehicle.   
     
     
         2 . The robotic vehicle of  claim 1 , wherein the steering system of the robotic vehicle is configured to set the set of one or more axles in a free state. 
     
     
         3 . The robotic vehicle of  claim 2 , wherein in the free state a first axle in the set of one or more axles is free to move about a first pivot point such that the first axle is free to turn in response to curves in the grooved track. 
     
     
         4 . The robotic vehicle of  claim 3 , wherein in the free state a second axle in the set of one or more axles is free to move about a second pivot point such that the second axle is free to turn in response to the curves in the grooved track. 
     
     
         5 . The robotic vehicle of  claim 4 , wherein the steering system of the robotic vehicle is configured to set the set of one or more axles in a locked state, and
 wherein in the locked state the first axle is mechanically locked to prevent the first axle from freely rotating about the first pivot point.   
     
     
         6 . The robotic vehicle of  claim 5 , wherein the steering system enables the locked state in response to receipt of a wireless signal. 
     
     
         7 . The robotic vehicle of  claim 5 , wherein in the locked state one or more of the first axle and the second axle pivots according to settings by the steering system. 
     
     
         8 . The robotic vehicle of  claim 7 , wherein the steering system includes a magnetic actuator comprised of a coil, a first magnet, and a second magnet, and
 wherein the first and second magnets are coupled to the first axle.   
     
     
         9 . The robotic vehicle of  claim 8 , wherein in the locked state, the steering system applies a current to the coil to cause (1) the first magnet to move to the coil and (2) the first axle to rotate about the first pivot point. 
     
     
         10 . The robotic vehicle of  claim 9 , wherein in the free state, a current is not applied to the coil. 
     
     
         11 . The robotic vehicle of  claim 5 , further comprising:
 a set of sensors to generate sensor data while the robotic vehicle traverses the grooved track; and   a steering control module to adjust the steering system based on the sensor data.   
     
     
         12 . The robotic vehicle of  claim 11 , wherein the steering control module includes sets of data and corresponding sets of actions, and
 wherein the sets of data include attributes of markers, including one or more of a color and shape of the markers.   
     
     
         13 . The robotic vehicle of  claim 12 , wherein the sets of actions include one or more of placing the steering system in the locked state, indicating an approaching junction, indicating a junction type of the approaching junction, and indicating a turning direction preference for the approaching junction. 
     
     
         14 . The robotic vehicle of  claim 12 , wherein the sets of actions includes placing the steering system in the free state. 
     
     
         15 . The robotic vehicle of  claim 12 , wherein the set of actions includes pivoting the first axle about the first pivot point by a specified angle. 
     
     
         16 . The robotic vehicle of  claim 15 , wherein the specified angle is proportional to one or more of a length of a wheelbase of the robotic vehicle and a radius of a curvature of the grooved track. 
     
     
         17 . The robotic vehicle of  claim 12 , wherein the set of sensors includes one or more mechanical buttons oriented toward the grooved track when the robotic vehicle is placed on the grooved track to navigate along the grooved track, and
 wherein the sets of data include the one or more mechanical buttons being depressed.   
     
     
         18 . The robotic vehicle of  claim 12 , wherein the set of sensors includes one or more optical sensors. 
     
     
         19 . The robotic vehicle of  claim 1 , wherein the set of one or more axles includes a front axle and a rear axle,
 wherein the front axle and the rear axle are coupled together such that movement of the front axle about a front pivot point by the steering system also causes movement of the rear axle about the rear pivot point.   
     
     
         20 . The robotic vehicle of  claim 1 , wherein the steering system includes a servo based steering actuator coupled to one or more axles in the set of one or more axles for steering of the robotic vehicle.