Mobile robot

• US 10,493,624 B1
• Filed: 12/23/2016
• Issued: 12/03/2019
• Est. Priority Date: 12/23/2016
• Status: Active Grant

• Current Assignee: X Development LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Nabat, Vincent Yves Michel, Mullins, Philip, Rembisz, Justine
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/389,699
• Time in Patent Office: 1,075 Days
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B62B 2203/50 comprising weighing means
• CPC Class Codes: B62B 3/001 Steering devices
• CPC Class Codes: B62B 5/0043 One motor drives one wheel
• CPC Class Codes: B62B 5/0073 Measuring a force
• CPC Class Codes: G05B 2219/39112 Force, load distribution

Abstract

Methods, systems, and apparatus, including an apparatus that includes a motorized base configured to move the apparatus; an upper portion coupled to the motorized base; one or more load-sensing devices located between the motorized base and the upper portion, the one or more load-sensing devices being configured to (i) detect forces between the upper portion and the motorized base, and (ii) provide force information based on the detected forces between different portions of the upper portion and the motorized base; and one or more processors performs operations of: obtaining the force information provided by the one or more load-sensing devices; determining a difference between the forces indicated by the force information from the one or more load-sensing devices; determining, based the difference in the forces, a movement to be performed by the apparatus; and providing control information to cause the motorized base to perform the determined movement.

Claims

1. An apparatus comprising:

a motorized base configured to move the apparatus;

an upper portion coupled to the motorized base;

multiple load-sensing devices located between the motorized base and the upper portion, wherein each of the multiple load-sensing devices is configured to (i) detect forces between a different portion of the upper portion and the motorized base, each of the multiple load-sensing devices being configured to detect forces in a direction that is substantially perpendicular to a horizontal plane of the apparatus, and (ii) provide force information based on the detected forces between the upper portion and the motorized base; and

one or more processors and one or more computer-readable media storing instructions that, when executed by the one or more processors, cause the one or more processors to;

obtain the force information provided by the multiple load-sensing devices;

determine a difference between the detected forces that are substantially perpendicular to the horizontal plane of the apparatus and are indicated by the force information from the multiple load-sensing devices;

determine, based the difference in the forces that are substantially perpendicular to the horizontal plane of the apparatus, a movement to be performed by the apparatus; and

provide control information to cause the motorized base to perform the determined movement.

2. The apparatus of claim 1, wherein determining the movement to be performed by the apparatus further comprises determining a speed of the movement to be performed by the apparatus.

3. The apparatus of claim 2, wherein the speed of the movement is inversely correlated to a magnitude of the forces between the upper portion and the motorized base.

4. The apparatus of claim 2, wherein the speed of the movement is positively correlated to a magnitude of the difference in the forces.

5. The apparatus of claim 2, wherein determining the speed of the movement to be performed by the apparatus further comprises:

obtaining information representing a source of the forces detected between the upper portion and the motorized base;

identifying the source of the forces detected between the upper portion and the motorized base; and

determining the speed of the movement based at least in part on the identified source.

6. The apparatus of claim 5, wherein determining the identity of the source of the forces detected between the upper portion and the motorized base further comprises:

providing, to a remote computing server, the information representing the source of the forces detected between the upper portion and the motorized base; and

receiving, from the remote computing server, an indication of an identity of the source.

7. The apparatus of claim 5,

wherein the source of the forces detected between the upper portion and the motorized base is a user of the apparatus, and

wherein determining the speed of the movement further comprises determining the speed of the movement based at least in part on a profile of the user that is stored in the apparatus.

8. The apparatus of claim 2, wherein determining the speed of the movement to be performed by the apparatus further comprises:

obtaining information representing a surrounding environment of the apparatus; and

determining the speed of the movement based at least in part on the information representing the surrounding environment of the apparatus.

9. The apparatus of claim 1, wherein determining the movement to be performed by the apparatus further comprises determining a direction of the movement to be performed by the apparatus.

10. The apparatus of claim 1, wherein determining the difference between the forces indicated by the force information from the load-sensing devices further comprises determining a moment based on the difference between the forces indicated by the force information from the load-sensing devices.

17. The apparatus of claim 1, comprising a camera configured to obtain image data indicating a source of the forces detected between the upper portion and the motorized base;

wherein the instructions, when executed, cause the one or more processors to determine the movement to be performed by the apparatus based on the image data.

18. The apparatus of claim 1, comprising a camera configured to obtain image data indicating a source of the forces detected between the upper portion and the motorized base;

wherein the instructions, when executed, cause the one or more processors to determine whether the detected forces that are substantially perpendicular to the horizontal plane of the apparatus are caused by an object placed on the upper portion or a person providing input to the apparatus.

19. The apparatus of claim 1, wherein the apparatus is configured to use the multiple load-sensing devices to detect human instructions to the apparatus and to measure loads carried on the upper portion of the apparatus.

20. The apparatus of claim 1, wherein apparatus comprises a handle, and the load-sensing devices are arranged so that the apparatus can detect forces applied on the handle in a horizontal plane through differences among forces detected by the load-sensing devices in a direction perpendicular to the horizontal plane.

11. A computer-implemented method, comprising:

obtaining force information provided by multiple load-sensing devices, wherein the multiple load-sensing devices are located between a motorized base and an upper portion of a robot, each of the multiple load-sensing devices being configured to (i) detect forces between a different portion of the upper portion and the motorized base, each of the multiple load-sensing devices being configured to detect forces in a direction that is substantially perpendicular to a horizontal plane of the robot, and (ii) provide the force information based on the detected forces between the upper portion and the motorized base;

determining a difference between the detected forces that are substantially perpendicular to the horizontal plane of the apparatus and are indicated by the force information from the load-sensing devices;

determining, based the difference in the forces that are substantially perpendicular to the horizontal plane of the apparatus, a movement to be performed by the robot; and

providing control information to cause the motorized base to perform the determined movement.

12. The computer-implemented method of claim 11, wherein determining the movement to be performed by the robot further comprises determining a speed of the movement to be performed by the robot.

13. The computer-implemented method of claim 11, further comprising:

determining that the multiple load-sensing devices have detected the forces between the upper portion and the motorized base; and

in response to determining that the multiple load-sensing devices have detected the forces between the upper portion and the motorized base, providing second control information to a camera of the robot to obtain the information representing a source of the forces detected between the upper portion and the motorized base.

14. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to perform operations of:

obtaining force information provided by multiple load-sensing devices, wherein the multiple load-sensing devices are located between a motorized base and an upper portion of a robot, each of the multiple load-sensing devices being configured to (i) detect forces between a different portion of the upper portion and the motorized base, each of the multiple load-sensing devices being configured to detect forces in a direction that is substantially perpendicular to a horizontal plane of the robot, and (ii) provide the force information based on the detected forces between the upper portion and the motorized base;

determining a difference between the detected forces that are substantially perpendicular to the horizontal plane of the apparatus and are indicated by the force information from the load-sensing devices;

determining, based the difference in the forces that are substantially perpendicular to the horizontal plane of the apparatus, a movement to be performed by the robot; and

providing control information to cause the motorized base to perform the determined movement.

15. The computer-readable medium of claim 14, wherein determining the movement to be performed by the robot further comprises determining a speed of the movement to be performed by the robot.

16. The computer-readable medium of claim 14, wherein the operations further comprise:

determining that the multiple load-sensing devices have detected the forces between the upper portion and the motorized base; and

in response to determining that the multiple load-sensing devices have detected the forces between the upper portion and the motorized base, providing second control information to a camera of the robot to obtain the information representing a source of the forces detected between the upper portion and the motorized base.