Tracks with optical markers

Abstract

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.

What is claimed is: 
     
         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.