Mobile robot and method of controlling mobile robot

A mobile robot that autonomously travels, the mobile robot comprising:

• a shaft perpendicular to travel directions of the mobile robot;
• a body that has a front surface;
• a driver that is disposed in the body and that drives travelling of the body;
• a base that includes a spring and that is connected to the body via the spring;
• and
• a laser range finder that is disposed at an upper part of the base,
• wherein the base is configured to be movable around the shaft to allow the base to switch between a first state in which the laser range finder is located inside the body and a second state in which the laser range finder is located outside the body,
• wherein the spring generates a force that pushes the base from a front surface of the body to an outside of the body,
• wherein the mobile robot further includes a power source control circuit and a power source,
• wherein an external object is a charger, and
• wherein the power source control circuit charges the power source by using the charger when the base is in the first state.

A method of controlling a mobile robot that autonomously travels,

• the mobile robot including
• a body that has a front surface,
• a driver that is disposed in the body and that drives travelling of the body,
• a base that includes a spring and that is connected to the body via the spring,
• a shaft,
• a laser range finder that is disposed at an upper part of the base, and
• a control circuit,
• wherein the spring generates a force that pushes the base from a front surface of the body to an outside of the body,
• wherein the laser range finder includes
• a turntable,
• a light emitter disposed on the turntable,
• a light receiver disposed on the turntable,
• a first side surface that is disposed on the turntable so as to surround the light emitter and the light receiver, and
• a second side surface that is disposed on the turntable so as to surround the light emitter and the light receiver, and
• wherein the base is configured to be movable around the shaft to allow the base to switch between a first state in which the laser range finder is located inside the body and a second state in which the laser range finder is located outside the body,
• the method comprising:
• emitting, by the light emitter, light to an outside of the laser range finder via the first side surface;
• receiving, by the light receiver, light that enters the light receiver from the outside of the laser range finder via the first side surface;
• stopping, by the control circuit, rotation of the turntable around an axis in the first state;
• and
• rotating, by the control circuit, the turntable around the axis in the second state,
• wherein the axis is parallel to the shaft.

A method of controlling a mobile robot that autonomously travels,

• the mobile robot including
• a shaft perpendicular to travel directions of the mobile robot,
• a body that has a front surface,
• a driver that is disposed in the body and that drives travelling of the body,
• a base that includes a spring and that is connected to the body via the spring,
• a laser range finder that is disposed at an upper part of the base,
• a power source control circuit, and
• a power source,
• wherein the spring generates a force that pushes the base from a front surface of the body to an outside of the body,
• wherein the base is configured to be movable around the shaft to allow the base to switch between a first state in which the laser range finder is located inside the body and a second state in which the laser range finder is located outside the body, and
• wherein an external object is a charger,
• the method comprising:
• charging, by the power source control circuit, the power source by using the charger when the base is in the first state.