Robotic Vehicle
First Claim
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.
4 Assignments
0 Petitions
Accused Products
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.
42 Citations
44 Claims
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1. A mobile robot comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 14)
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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.
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15. A mobile robot comprising:
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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. - View Dependent Claims (16, 17)
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18. A mobile robot comprising:
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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. - View Dependent Claims (19, 20)
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21. A mobile robot comprising:
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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. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of controlling a robot, the method comprising:
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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. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39)
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40. A method of controlling a robot to negotiate steps, the method comprising:
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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. - View Dependent Claims (41, 42, 43, 44)
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Specification