Mast systems for autonomous mobile robots

• US 10,100,968 B1
• Filed: 06/12/2017
• Issued: 10/16/2018
• Est. Priority Date: 06/12/2017
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Chow, Patrick, Romanov, Nikolai
• Primary Examiner(s): Laballe, Clayton E
• Assistant Examiner(s): Butler, Kevin
• Application Number:
  US15/620,658
• Time in Patent Office: 491 Days
• Field of Search: 396428
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B65H 2701/371 Curved tapes, e.g. "Spreizband"
• CPC Class Codes: B65H 75/425 attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
• CPC Class Codes: B65H 75/4402 Guiding arrangements to control paying-out and re-storing of the material guides per se B65H57/00
• CPC Class Codes: B65H 75/4486 Electric motors
• CPC Class Codes: E04C 3/005 Girders or columns that are rollable, collapsible or otherwise adjustable in length or height girders as supporting members for forms E04G11/54
• CPC Class Codes: F16M 11/04 Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
• CPC Class Codes: F16M 11/046 adapted to upward-downward translation movement
• CPC Class Codes: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/12 in more than one direction
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/40 by means of coilable or bendable legs or spiral shaped legs
• CPC Class Codes: F16M 11/42 with arrangement for propelling the support stands on wheels
• CPC Class Codes: G03B 17/56 Accessories carrying-cases A45C11/38
• CPC Class Codes: G03B 17/561 : Support related camera accessories
• CPC Class Codes: G03B 29/00 : Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects combinations with flash apparatus G03B15/03

Abstract

A protractible and retractable mast system for an autonomous mobile robot includes an elongate flexible member including a first lateral end and a second lateral end, and a fastener having a first portion extending along a length of the first lateral end and a second portion extending along a length of the second lateral end. The flexible member is configured to be at least partially coiled within a body of the robot, and a portion of the flexible member is vertically movable away from the body when the flexible member is being uncoiled. The fastener is configured to connect the first lateral end to the second lateral end when the flexible member is being uncoiled, and disconnect the first lateral end from the second lateral end when the flexible member is being coiled.

Claims

1. An autonomous mobile robot comprising:

a body;

a drive configured to maneuver the body across a floor surface;

an image capture device;

an interface cable connecting the image capture device to a controller of the robot, the interface cable being configured to be spooled within the body; and

an elongate flexible member having a portion coupled to the image capture device, the flexible member being configured to be at least partially coiled within the body of the robot, and the portion of the flexible member being vertically movable with the image capture device away from the body when the flexible member is being uncoiled,

wherein the flexible member is configured to form a conduit around a portion of the interface cable between the body and the image capture device and to support the image capture device above the body of the robot when the portion of the flexible member and the image capture device move away from the body, and

wherein a top surface of the image capture device is configured to be flush with or below a top surface of the body when the flexible member and the image capture device are retracted within the body.

2. The robot of claim 1, wherein:

the flexible member comprises a section having a first lateral end and a second lateral end, and

the section of the flexible member is configured such that a distance between the first lateral end and the second lateral end when the section of the flexible member is coiled is larger than a distance between the first lateral end and the second lateral end when the section of the flexible member is uncoiled.

3. The robot of claim 1, wherein the flexible member is configured to

be substantially flat when coiled within the body, and

be curled about a longitudinal axis of the flexible member to form the conduit when uncoiled and vertically extended from the body.

4. The robot of claim 1, wherein:

the flexible member comprises a first lateral edge configured to be fastened to a second lateral edge of the flexible member to form the conduit around the portion of the interface cable, and

the interface cable and the flexible member are configured to be separately spooled within the body when the first lateral edge of the flexible member is unfastened from the second lateral edge of the flexible member.

5. The robot of claim 1, wherein:

the flexible member comprises a first lateral edge and a second lateral edge,

the robot further comprises a fastener having a first portion extending along a length of the first lateral edge and a second portion extending along a length of the second lateral edge, and

the fastener is configured to

connect the first lateral edge to the second lateral edge to form the conduit around the portion of the interface cable when the flexible member is being uncoiled, and

disconnect the first lateral edge from the second lateral edge when the flexible member is being coiled within the body.

6. The robot of claim 5, wherein the fastener comprises a zipper, a hook-and-loop fastener, or a magnetic fastener.

7. The robot of claim 5, further comprising a fastening and unfastening device positioned below the top surface of the body, the fastening and unfastening device being configured to

connect the first portion of the fastener to the second portion of the fastener such that the flexible member forms the conduit around the portion of the interface cable when the image capture device moves vertically away from the body, and

disconnect the first portion of the fastener from the second portion of the fastener when the portion of the flexible member is retracted toward the body.

8. The robot of claim 5, wherein the fastener is attached to an outer cloth layer of the flexible member.

9. The robot of claim 1, further comprising a drive roller contacting the flexible member, the drive roller being rotatable

in a first direction to cause the flexible member to be uncoiled and to move vertically away from the body, and

in a second direction to cause the flexible member to be coiled and to cause the portion of the flexible member to retract toward the body.

10. The robot of claim 9, further comprising a motor positioned within the drive roller and between outer lateral ends of the drive roller, the motor being configured to rotate the drive roller in the first direction or the second direction.

11. The robot of claim 9, further comprising a compressor roller positioned to contact the flexible member to compress another portion of the flexible member against the drive roller.

12. The robot of claim 9, further comprising a ramp extending away from the drive roller from a first end proximate the drive roller to a second end proximate a location on the body through which the flexible member is movable to an exterior of the body, the ramp being configured to contact the flexible member to inhibit the flexible member from buckling.

13. The robot of claim 1, wherein:

the portion of the flexible member is positioned proximate a first longitudinal end of the flexible member, and another portion of the flexible member is positioned proximate a second longitudinal end of the flexible member, and

the robot further comprises a spring to apply tension to the flexible member at the other portion of the flexible member.

14. The robot of claim 1, further comprising a sensor to detect motion of the flexible member, wherein the controller is configured to determine a length of an uncoiled portion or a length of a coiled portion of the flexible member based on the detected motion of the flexible member.

15. The robot of claim 14, wherein the sensor comprises an encoder operably connected to a motor to drive the flexible member away from the body of the robot.

16. The robot of claim 14, wherein the sensor comprises an optical sensor to detect motion of the flexible member.

17. The robot of claim 1, further comprising a rigid nest positioned within the body of the robot, the rigid nest configured to receive the image capture device when the image capture device is in a fully retracted position.

18. An autonomous mobile robot comprising:

a body;

a drive configured to maneuver the body across a floor surface;

an image capture device;

an interface cable connecting the image capture device to a controller of the robot, the interface cable being configured to be spooled within the body;

an elongate flexible member having a portion coupled to the image capture device, the flexible member being configured to be at least partially coiled within the body of the robot, and the portion of the flexible member being vertically movable with the image capture device away from the body when the flexible member is being uncoiled; and

a spool assembly having a first portion about which the flexible member is configured to be coiled, and a second portion about which the interface cable is configured to be coiled,

wherein the flexible member is configured to form a conduit around a portion of the interface cable between the body and the image capture device and to support the image capture device above the body of the robot when the portion of the flexible member and the image capture device move away from the body.

19. The robot of claim 18, wherein:

the spool assembly defines a slit through the first portion of the spool assembly, and

the interface cable extends through the slit to engage the second portion of the spool assembly.

20. The robot of claim 18, wherein the interface cable is configured to contact an inner surface of the first portion of the spool assembly when the interface cable is coiled about the second portion of the spool assembly, the inner surface of the first portion facing the second portion of the spool assembly.

21. The robot of claim 18, wherein:

the flexible member comprises a section having a first lateral end and a second lateral end, and

the section of the flexible member is configured such that a distance between the first lateral end and the second lateral end when the section of the flexible member is coiled is larger than a distance between the first lateral end and the second lateral end when the section of the flexible member is uncoiled.

22. The robot of claim 18, wherein the flexible member is configured to

be substantially flat when coiled within the body, and

be curled about a longitudinal axis of the flexible member to form the conduit when uncoiled and vertically extended from the body.

23. The robot of claim 18, wherein:

the flexible member comprises a first lateral edge configured to be fastened to a second lateral edge of the flexible member to form the conduit around the portion of the interface cable, and

the interface cable and the flexible member are configured to be separately spooled within the body when the first lateral edge of the flexible member is unfastened from the second lateral edge of the flexible member.

24. The robot of claim 18, wherein:

the flexible member comprises a first lateral edge and a second lateral edge,

the robot further comprises a fastener having a first portion extending along a length of the first lateral edge and a second portion extending along a length of the second lateral edge, and

the fastener is configured to

connect the first lateral edge to the second lateral edge to form the conduit around the portion of the interface cable when the flexible member is being uncoiled, and

disconnect the first lateral edge from the second lateral edge when the flexible member is being coiled within the body.

25. The robot of claim 24, further comprising a fastening and unfastening device positioned below a top surface of the body, the fastening and unfastening device being configured to

connect the first portion of the fastener to the second portion of the fastener such that the flexible member forms the conduit around the portion of the interface cable when the image capture device moves vertically away from the body, and

disconnect the first portion of the fastener from the second portion of the fastener when the portion of the flexible member is retracted toward the body.

26. An autonomous mobile robot comprising:

a body having a height above a floor surface between 0.15 and 0.35 meters, an area footprint of the body being less than 0.5 meters;

a drive configured to maneuver the body across a floor surface;

an image capture device being movable to a height above the floor surface between 0.5 and 2.5 meters;

an interface cable connecting the image capture device to a controller of the robot, the interface cable being configured to be spooled within the body; and

an elongate flexible member having a portion coupled to the image capture device, the flexible member being configured to be at least partially coiled within the body of the robot, the portion of the flexible member being vertically movable with the image capture device away from the body when the flexible member is being uncoiled,

wherein the flexible member is configured to form a conduit around a portion of the interface cable between the body and the image capture device and to support the image capture device above the body of the robot when the portion of the flexible member and the image capture device are in an extended position.

27. The robot of claim 26, wherein:

the flexible member comprises a section having a first lateral end and a second lateral end, and

the section of the flexible member is configured such that a distance between the first lateral end and the second lateral end when the section of the flexible member is coiled is larger than a distance between the first lateral end and the second lateral end when the section of the flexible member is uncoiled.

28. The robot of claim 26, wherein the flexible member is configured to

be substantially flat when coiled within the body, and

be curled about a longitudinal axis of the flexible member to form the conduit when uncoiled and vertically extended from the body.

29. The robot of claim 26, wherein:

the flexible member comprises a first lateral edge configured to be fastened to a second lateral edge of the flexible member to form the conduit around the portion of the interface cable, and

the interface cable and the flexible member are configured to be separately spooled within the body when the first lateral edge of the flexible member is unfastened from the second lateral edge of the flexible member.

30. The robot of claim 26, wherein:

the flexible member comprises a first lateral edge and a second lateral edge,

the robot further comprises a fastener having a first portion extending along a length of the first lateral edge and a second portion extending along a length of the second lateral edge, and

the fastener is configured to

connect the first lateral edge to the second lateral edge to form the conduit around the portion of the interface cable when the flexible member is being uncoiled, and

disconnect the first lateral edge from the second lateral edge when the flexible member is being coiled within the body.

31. The robot of claim 30, further comprising a fastening and unfastening device positioned below a top surface of the body, the fastening and unfastening device being configured to

connect the first portion of the fastener to the second portion of the fastener such that the flexible member forms the conduit around the portion of the interface cable when the image capture device moves vertically away from the body, and

disconnect the first portion of the fastener from the second portion of the fastener when the portion of the flexible member is retracted toward the body.

32. A protractible and retractable mast system for an autonomous mobile robot, the mast system comprising:

an elongate flexible member comprising a first lateral end and a second lateral end, the flexible member being configured to be at least partially coiled within a body of the robot, and a portion of the flexible member being vertically movable away from the body when the flexible member is being uncoiled;

a fastener having a first portion extending along a length of the first lateral end and a second portion extending along a length of the second lateral end,

wherein the fastener is configured to

connect the first lateral end to the second lateral end when the flexible member is being uncoiled, and

disconnect the first lateral end from the second lateral end when the flexible member is being coiled; and

a drive roller contacting the flexible member, the drive roller being rotatable

in a first direction to cause the portion of the flexible member to move vertically away from the body and to cause the flexible member to be uncoiled, and

in a second direction to cause the portion of the flexible member to retract toward the body and to cause the flexible member to be coiled.

33. The mast system of claim 32, wherein:

the portion of the flexible member is positioned proximate a first longitudinal end of the flexible member, and another portion of the flexible member is positioned proximate a second longitudinal end of the flexible member, and

the mast system further comprises a spring to apply tension to the flexible member at the other portion of the flexible member.

34. The mast system of claim 32, further comprising a motor positioned within the drive roller and between outer lateral ends of the drive roller, the motor being configured to rotate the drive roller in the first direction or the second direction.

35. The mast system of claim 32, further comprising a compressor roller positioned to contact the flexible member to compress another portion of the flexible member against the drive roller.

36. The mast system of claim 32, further comprising a ramp extending away from the drive roller, the ramp being configured to contact the flexible member to inhibit the flexible member from buckling.