Robotic Vehicle

• US 20110190933A1
• Filed: 01/29/2010
• Published: 08/04/2011
• Est. Priority Date: 01/29/2010
• Status: Abandoned Application

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Inventors: Sword, Lee F., Shein, Andrew
• Application Number:
  US12/696,795
• Publication Number:
  US 20110190933A1
• Time in Patent Office: Days
• US Class Current: 700/258
• 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: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00

Abstract

A mobile robot that includes a chassis, a drive system disposed on the chassis and configured to maneuver the robot over a work surface, a deck system, and a control system connected to the drive system and the deck system. The deck system includes a payload deck configured to receive a removable payload and a deck shifter configured to move the payload deck relative to the chassis. The control system includes a control arbitration system and a behavior system in communication with each other. The behavior system executes a behavior that evaluates and provides an outcome evaluation on a predicted outcome of a robot command. The control arbitration system selects and executes a robot command based at least in part on the outcome evaluation.

Claims

1. A mobile robot comprising:

a chassis;

a drive system disposed on the chassis and configured to maneuver the robot over a work surface;

a deck system comprising;

a payload deck configured to receive a removable payload; and

a deck shifter configured to move the payload deck relative to the chassis; and

a control system connected to the drive system and the deck system, the control system comprising a control arbitration system and a behavior system in communication with each other, the behavior system executing an anti-tip behavior configured to evaluate and provide an outcome evaluation on a predicted outcome of a robot command, the control arbitration system selecting and executing a robot command based at least in part on the outcome evaluation;

wherein the anti-tip behavior evaluates the predicted outcome based on a robot tip-over criteria.

2. The mobile robot of claim 1, wherein the anti-tip behavior determines a payload deck position relative to the chassis and provides the outcome evaluation based at least in part on the payload deck position.

3. The mobile robot of claim 1, wherein the anti-tip behavior determines a position of a center of gravity of the payload deck relative to a center of gravity of the chassis and provides the outcome evaluation based at least in part on the position of the center of gravity of the payload deck.

4. The mobile robot of claim 1, wherein the anti-tip behavior determines a position of a center of gravity of the entire robot relative to an operating envelope, and provides the outcome evaluation based at least in part on the position of the center of gravity of the entire robot.

5. The mobile robot of claim 4, wherein the drive system comprises:

a skid steer drive system disposed on the chassis, the chassis having a leading end, a trailing end, and a center of gravity therebetween; and

right and left driven flippers disposed on corresponding sides of the chassis, each flipper having a pivot end, a distal end, and a center of gravity therebetween, and each flipper being pivotable about a first pivot axis common with a drive axis at the leading end of the chassis;

wherein the lateral extents between the distal ends of the flippers and the trailing ends of the skid steer drive system defines the operating envelope.

6. The mobile robot of claim 5, wherein the deck shifter comprises a linkage having a pivot end, a distal end, and a center of gravity therebetween, and pivotable about a second pivot axis substantially at the leading end of the chassis, the payload deck having a mid pivot point, a leading end and a trailing end, and a center of gravity between the two ends, the payload deck being pivotable about a third pivot axis substantially at the distal end of the linkage, the anti-tip behavior monitoring the centers of gravity of the chassis, the flippers, the linkage, the payload deck, and any received payloads to determine the center of gravity of the entire robot.

7. The mobile robot of claim 5, wherein the anti-tip behavior comprises a stop-priority mode that prevents movement of the center of gravity of the entire robot outside of the operating envelope.

9. The mobile robot of claim 5, wherein the anti-tip behavior comprises a flipper-priority mode that maintains the center of gravity of the entire robot inside the operating envelope when a robot command moves the flippers and thus alters the operating envelope.

10. The mobile robot of claim 5, wherein the anti-tip behavior comprises a center-of-gravity-priority mode that alters the operating envelope by pivoting the flippers with respect to the chassis to maintain the center of gravity of the entire robot inside the operating envelope.

11. The mobile robot of claim 1, wherein the behavior system executes a payload manager behavior that reports received payloads to the control system.

12. The mobile robot of claim 11, wherein the payload deck comprises connection points for both a payload power link and a payload communication link.

13. The mobile robot of claim 11, wherein the payload deck comprises multiple payload connection pads positioned to accommodate selective connection of multiple payload units to the payload deck, each connection pad includes connection points for both payload power and payload communication.

14. The mobile robot of claim 1, wherein the control system comprises:

at least one control arbiter controlling the drive system and at least one control arbiter controlling the deck system;

multiple applications in communication with the control arbiters, each application comprising;

a robot controller in communication with the control arbiters;

an action selection engine in communication with robot controller, the action selection engine periodically executing an action selection cycle to generate an overall command which is sent to the robot controller for execution on the robot resources;

at least one behavior in communication with the action selection engine; and

at least one action model in communication with the action selection engine, each action model modeling at least one of the robot resources and having at least one action space; and

a robot manager in communication with the applications and the control arbiters, the robot manager implementing an application priority policy for determining which application has exclusive control of any one or more of the robot resources at a given time;

wherein the action selection cycle comprises;

selecting a command for each action space of each action model;

generating the single overall command based on the accumulated commands for each action model; and

sending the overall command to the robot controller.

8. The mobile robot of claim 8, wherein the stop-priority mode of the anti-tip behavior prevents movement of the center of gravity of the entire robot inside a threshold distance of a boundary of the operating envelope.

15. A mobile robot comprising:

a chassis;

a drive system disposed on the chassis and configured to maneuver the robot over a work surface;

a deck system comprising;

a payload deck configured to receive a removable payload; and

a deck shifter configured to move the payload deck relative to the chassis; and

a control system connected to the drive system and the deck system, the control system comprising a control arbitration system and a behavior system in communication with each other, the behavior system executing a deck-leveling behavior configured to evaluate and provide an outcome evaluation on a predicted outcome of a robot command, the control arbitration system selecting and executing a robot command based at least in part on the outcome evaluation;

wherein the deck-leveling behavior maintains the payload deck substantially parallel to at least one of the chassis and the work surface.

16. The mobile robot of claim 15, wherein the deck-leveling behavior determines a deck offset angle of the payload deck relative to at least one of a longitudinal axis of the chassis and the work surface, the deck-leveling behavior providing its outcome evaluation based on a difference between the deck offset angle and a threshold angle.

17. The mobile robot of claim 15, wherein the deck-leveling behavior is configured to allow a user command for single axis movement of the deck system while maintaining the payload deck substantially parallel to at least one of the chassis and the work surface.

18. A mobile robot comprising:

a chassis;

a drive system disposed on the chassis and configured to maneuver the robot over a work surface;

a deck system comprising;

a payload deck configured to receive a removable payload; and

a deck shifter configured to move the payload deck relative to the chassis; and

a control system connected to the drive system and the deck system, the control system comprising a control arbitration system and a behavior system in communication with each other, the behavior system executing a deck shifter behavior;

wherein the deck shifter behavior influences execution of commands by the control arbitration system to avoid unintentional contact of the deck shifter and the payload deck with at least one of the chassis and the work surface.

19. The mobile robot of claim 18, wherein the drive system comprises:

a skid steer drive system disposed on the chassis, the chassis having a leading end and a trailing end; and

right and left driven flippers disposed on corresponding sides of the chassis, each flipper having a pivot end and a distal end, each flipper being pivotable about a first pivot axis common with a drive axis at the leading end of the chassis, the deck shifter behavior preventing movement of a leading end of the payload deck forward of the distal tips of the flippers.

20. The mobile robot of claim 19, wherein the deck shifter comprises a linkage having a pivot end and a distal end, the linkage being pivotable about a second pivot axis substantially at the leading end of the chassis, the payload deck having a mid pivot point, a leading end and a trailing end, the payload deck being pivotable about a third pivot axis substantially at the distal end of the linkage, the deck shifter behavior preventing collision between the linkage and the chassis.

21. A mobile robot comprising:

a chassis;

a drive system disposed on the chassis and configured to maneuver the robot over a work surface;

a deck system comprising;

a payload deck configured to receive a removable payload; and

a deck shifter configured to move the payload deck relative to the chassis; and

a control system connected to the drive system and the deck system, the control system comprising a control arbitration system and a behavior system in communication with each other, the behavior system executing a stair assist behavior;

wherein the stair assist behavior coordinates movement of the drive system and the deck system executed by the control arbitration system for negotiating stairs.

22. The mobile robot of claim 21, wherein operations of the stair assist behavior comprise:

assuming a stair negotiation start pose;

assuming a stair advancement pose; and

maintaining a dive direction along a stair direction.

23. The mobile robot of claim 22, wherein the drive system comprises:

a skid steer drive system disposed on the chassis, the chassis having a leading end, a trailing end, and a center of gravity therebetween; and

right and left driven flippers disposed on corresponding sides of the chassis, each flipper having a pivot end, a distal end, and a center of gravity therebetween, and each flipper being pivotable about a first pivot axis common with a drive axis at the leading end of the chassis;

wherein assuming the stair negotiation start pose comprises moving the flippers to a deployed position in front of and at an angle with respect to the chassis.

24. The mobile robot of claim 23, wherein assuming the stair negotiation start pose further comprises moving a center of gravity of the entire robot to a stable position.

25. The mobile robot of claim 24, wherein assuming the stable position comprises moving the payload deck to a parked position adjacently above the chassis.

26. The mobile robot of claim 24, wherein assuming the stable position comprises moving centers of gravity of the payload deck and the deck shifter forward of the center of gravity of the chassis and rearward of the center of gravity of the flippers.

27. The mobile robot of claim 23, wherein assuming the stair advancement pose comprises positioning a center of gravity of the payload deck forward of the center of gravity of the chassis and above the center of gravity of the flippers.

28. The mobile robot of claim 23, wherein assuming the stair advancement pose further comprises positioning the center of gravity of the payload deck forward of the center of gravity of the flippers.

29. The mobile robot of claim 23, wherein maintaining a dive direction comprises limiting a commanded turn rate to a threshold turn rate away from the stair direction.

30. The mobile robot of claim 23, wherein the deck shifter comprises a linkage having a pivot end, a distal end, and a center of gravity therebetween, and pivotable about a second pivot axis substantially at the leading end of the chassis, the payload deck having a mid pivot point, a leading end and a trailing end, and a center of gravity between the two ends, the payload deck being pivotable about a third pivot axis substantially at the distal end of the linkage, the stair assist behavior monitoring the centers of gravity of the chassis, the flippers, the linkage, the payload deck, and any received payloads to determine the center of gravity of the entire robot.

31. A method of controlling a robot, the method comprising:

determining an operating envelope of the robot, the robot comprising;

a chassis;

a drive system disposed on the chassis and configured to maneuver the robot over a work surface; and

a deck system comprising a payload deck configured to receive a removable payload and a deck shifter configured to move the payload deck relative to the chassis;

determining a position of a center of gravity of the entire robot with respect to the operating envelope, the center of gravity of the entire robot comprising at least a center of gravity of the chassis and a center of gravity of the payload deck movable with respect to the chassis; and

maintaining the center of gravity of the entire robot within the operating envelope.

32. The method of claim 31, wherein the drive system comprises:

a skid steer drive system disposed on the chassis, the chassis having a leading end, a trailing end, and its center of gravity therebetween; and

right and left driven flippers disposed on corresponding sides of the chassis, each flipper having a pivot end, a distal end, and a center of gravity therebetween, and each flipper being pivotable about a first pivot axis common with a drive axis at the leading end of the chassis;

wherein the lateral extents between the distal ends of the flippers and the trailing ends of the skid steer drive system defines the operating envelope.

33. The method of claim 32, further comprising preventing movement of a leading end of the payload deck forward of the distal tips of the flippers.

34. The method of claim 32, wherein the deck shifter comprises a linkage having a pivot end, a distal end, and a center of gravity therebetween, and pivotable about a second pivot axis substantially at the leading end of the chassis, the payload deck having a mid pivot point, a leading end and a trailing end, and a center of gravity between the two ends, the payload deck being pivotable about a third pivot axis substantially at the distal end of the linkage, the method further comprising monitoring the centers of gravity of the chassis, the flippers, the linkage, the payload deck, and any received payloads to determine the center of gravity of the entire robot.

35. The method of claim 34, further comprising preventing a collision between the linkage and the chassis.

36. The method of claim 32, further comprising maintaining the center of gravity of the entire robot inside the operating envelope when the flippers are moved, the flipper movement altering the operating envelope.

37. The method of claim 32, further comprising altering the operating envelope by pivoting the flippers with respect to the chassis to maintain the center of gravity of the entire robot inside the operating envelope.

38. The method of claim 31, further comprising:

determining a deck offset angle of the payload deck relative to at least one of a longitudinal axis of the chassis and the work surface; and

maintaining the payload deck within a threshold angle of at least one of the longitudinal axis of the chassis and the work surface.

39. The method of claim 31, further comprising:

running multiple applications on a processor, each application having a robot controller and an action selection engine, each application being in communication with at least one behavior and at least one action model of at least part of the robot; and

running periodic action selection cycles on each action selection engine, each action selection cycle comprising;

selecting a command for each action space of each action model;

generating a single overall command based on the accumulated commands for each action model; and

sending the overall command to the robot controller for execution on the robot.

40. A method of controlling a robot to negotiate steps, the method comprising:

assuming a stair negotiation start pose by;

moving right and left driven flippers disposed on corresponding sides of a chassis of the robot to a deployed position, each flipper having a pivot end, a distal end, and a center of gravity therebetween, and each flipper being pivotable about a first pivot axis common with a drive axis at the leading end of the chassis, the chassis having a leading end, a trailing end, and a center of gravity therebetween, the deployed flippers positioned in front of and at an angle with respect to the chassis; and

moving a center of gravity of the entire robot to a stable position;

assuming a stair advancement pose by positioning a center of gravity of a payload deck forward of the center of gravity of the chassis and above the center of gravity of the flippers; and

maintaining a dive direction along a stair direction.

41. The method of claim 40, wherein assuming the stable position comprises moving the payload deck to a parked position adjacently above the chassis.

42. The method of claim 40, wherein assuming the stable position comprises moving centers of gravity of the payload deck and the deck shifter forward of the center of gravity of the chassis and rearward of the center of gravity of the flippers.

43. The method of claim 40, wherein assuming the stair advancement pose further comprises positioning the center of gravity of the payload deck forward of the center of gravity of the flippers.

44. The method of claim 40, wherein maintaining a dive direction comprises limiting a commanded turn rate to a threshold turn rate away from the stair direction.