Interactions between a vehicle and a being encountered by the vehicle

• US 10,168,699 B1
• Filed: 01/30/2015
• Issued: 01/01/2019
• Est. Priority Date: 01/30/2015
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Vecna Technologies, Inc
• Inventors: Theobald, Daniel
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/610,310
• Time in Patent Office: 1,432 Days
• Field of Search: 701 2, 701 25, 701 28, 700245, 700253, 707755, 3482181, 463 42
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

Methods, systems and devices are provided involving at least one vehicle and at least one being such as a person. In one method, the vehicle is operated to autonomously move within an environment. The vehicle is also operated to autonomously acknowledge presence of the being approximately when the vehicle encounters the being during the moving of the vehicle.

Claims

1. A method of operating an autonomous mobile robot in close proximity to a being, comprising:

operating a drive system of the mobile robot to autonomously move within an environment;

providing a communication system for enabling communication between the mobile robot and the being; and

providing a controller configured to;

control operation of the mobile robot, the operation including autonomously moving the mobile robot within the environment using the drive system to perform at least one task;

detect, within received sensor data, a being within the environment that is in substantially close proximity to the mobile robot;

perform a temporal analysis on the received sensor data to generate a predicted course of the detected being;

determine, based at least in part on the predicted course of the detected being, an estimated time of arrival (ETA) of the mobile robot to a future encounter with the detected being, wherein the future encounter comprises the mobile robot and the predicted course of the detected being both being located within a common region;

generate and transmit, based at least in part on the ETA of the mobile robot to the future encounter, an acknowledgement message from the mobile robot to the detected being, wherein the acknowledgement message indicates that the mobile robot has identified the future encounter;

determine one or more modification actions to cause an adjustment in the future encounter; and

generate and transmit an announcement message from the mobile robot to the detected being, wherein the announcement message is indicative of the one or more determined modification actions and is transmitted prior to the occurrence of the future encounter.

2. The method as defined in claim 1, wherein the acknowledging comprises physical gesturing with at least one component of the mobile robot.

3. The method as defined in claim 1, wherein the acknowledgement is in the form of a common phrase or gesture typically utilized between beings when they encounter each other in an environment.

4. The method as defined in claim 1, wherein the mobile robot has a substantially humanoid form and the acknowledgment is a gesture composed of moving one or more parts of the humanoid mobile robot that typically is utilized between beings when they encounter each other in an environment.

5. The method as defined in claim 1, wherein the visual and/or audible acknowledgement includes informing the being that the mobile robot is aware of the being'"'"'s presence and will pause its operation to avoid physical contact with the being.

6. The method as defined in claim 1, wherein the visual and/or audible acknowledgement includes informing the being that the mobile robot is aware of the being'"'"'s presence and will continue on its present course to avoid physical contact with the being.

7. The method as defined in claim 1, wherein the visual and/or audible acknowledgement includes informing the being that the mobile robot is aware of the being'"'"'s presence and will divert from its present course to a different course to avoid physical contact with the being.

8. The method as defined in claim 1, wherein identifying one or more beings within the environment that are in substantially close proximity to the mobile robot is accomplished by a system that is in a physical position that is remote from the mobile robot.

9. The method as defined in claim 1, wherein the visual and/or audible acknowledgement is provided as soon as a being enters a common region within the environment regardless of whether there is a direct line of sight between the being and a mobile robot.

10. The method as defined in claim 1, wherein the visual and/or audible acknowledgement is provided prior to a being entering a common region within the environment regardless of whether there is a direct line of sight between the being and the mobile robot.

11. The method as defined in claim 1, wherein a visual acknowledgement is provided to a being via a user interface of the mobile robot in the form of a display.

12. The method as defined in claim 1, wherein the visual and/or audible acknowledgement includes instructions for the being to move so that the mobile robot can avoid physical contact with the being.