Mobile Human Interface Robot

• US 20120185095A1
• Filed: 02/22/2011
• Published: 07/19/2012
• Est. Priority Date: 05/20/2010
• Status: Active Grant

• Current Assignee: Ava Robotics, Inc.
• Original Assignee: iRobot Corporation
• Inventors: Rosenstein, Michael, Won, Chikyung, Lansberry, Geoffrey B., Shamlian, Steven V., Halloran, Michael, Chiappetta, Mark, Allen, Thomas P.
• Granted Patent: US 8,918,213 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A mobile human interface robot that includes a base defining a vertical center axis and a forward drive direction and a holonomic drive system supported by the base. The drive system has first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis. The robot further includes a controller in communication with the holonomic drive system, a torso supported above the base, and a touch sensor system in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

Claims

1. A mobile human interface robot comprising:

a base defining a vertical center axis and a forward drive direction;

a holonomic drive system supported by the base, the drive system having first, second, and third driven drive wheels, each trilaterally spaced about the vertical center axis and having a drive direction perpendicular to a radial axis with respect to the vertical center axis;

a controller in communication with the holonomic drive system;

a torso supported above the base; and

a touch sensor system in communication with the controller, the touch sensor system responsive to human contact;

wherein the controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

2. The mobile human interface robot of claim 1, wherein the touch sensor system is disposed at least in part on the torso.

3. The mobile human interface robot of claim 2, further comprising an actuatable extendable leg disposed on the base and supporting the torso, the controller altering a height of the leg to alter a height of the torso in response to the received touch signal from the touch sensor system.

4. The mobile human interface robot of claim 3, wherein the controller instructs the leg to provide active assistance to a user height alteration of the torso in response to the received touch signal from the touch sensor system.

5. The mobile human interface robot of claim 1, wherein the drive commands comprise reduced power assisted drive commands that propel the robot with assistance from a user in contact with the robot.

6. The mobile human interface robot of claim 1, further comprising a neck disposed on the torso and a head supported by the neck, the neck configured to pan and tilt the head with respect to the torso.

7. The mobile human interface robot of claim 6, wherein the controller allows user articulation of the head in response to the received touch signal from the touch sensor system indicating head touching and maintains a pose of the head after completion of head touching.

8. The mobile human interface robot of claim 7, wherein the controller articulates the head to face a location of contact on the robot in response to the received touch signal from the touch sensor system.

9. The mobile human interface robot of claim 7, further comprising a manipulation sensor disposed on at least one of the neck and the head for detecting user manipulation of the head.

10. The mobile human interface robot of claim 1, wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.

11. The mobile human interface robot of claim 1, wherein the touch sensor system comprises contact sensors disposed on top, bottom, right, left, front, and back surfaces of the torso.

12. The mobile human interface robot of claim 1, wherein the touch sensor system comprises at least one touch-responsive actuatable input positioned between 3 feet and 5 feet from a supporting surface of the robot.

13. The mobile human interface robot of claim 1, wherein the controller increases a movement resistance of at least a portion of the robot in a direction opposite to a received touch.

14. The mobile human interface robot of claim 1, wherein the controller instructs the drive system to stop driving in response to the received touch signal from the touch sensor system.

15. A mobile human interface robot comprising:

a base having a forward drive direction;

a drive system supported by the base;

a robot computer supported by the base and capable of processing greater than 1000 million instructions per second (MIPS);

at least one tablet computer detachably supported above the base and in wireless communication with the robot computer; and

a camera supported above the base and movable within at least one degree of freedom separately from the display.

16. The mobile human interface robot of claim 15, wherein the drive system comprises first, second, and third driven drive wheels, each trilaterally spaced about a vertical center axis of the base and each having a drive direction perpendicular to a radial axis with respect to the vertical center axis.

17. The mobile human interface robot of claim 16, wherein each drive wheel comprises first and second rows of rollers disposed about a periphery of the drive wheel, each roller having a rolling direction perpendicular to a rolling direction of the drive wheel.

18. The mobile human interface robot of claim 17, wherein the rollers each define an arcuate rolling surface, together the rollers defining an at least substantially circular rolling surface of the drive wheel.

19. The mobile human interface robot of claim 15, wherein the camera comprises a volumetric point cloud imaging device positioned at a height of greater than 1 or 2 feet above a ground surface and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the robot.

20. The mobile human interface robot of claim 15, wherein the camera comprises a volumetric point cloud imaging device positioned to be capable of obtaining a point cloud from a volume of space adjacent the robot.

21. The mobile human interface robot of claim 15, wherein the camera is movable to view an area proximate a front edge of the base.

22. The mobile human interface robot of claim 15, wherein the tablet computer comprises a touch screen having a display area of at least 150 square inches.

23. The mobile human interface robot of claim 15, wherein the tablet computer is movable with at least one degree of freedom while attached to the robot.

24. The mobile human interface robot of claim 15, further comprising a display in electric communication with the robot computer, the tablet computer detachably receivable over the display, the display having an inactive state when the tablet computer is received over the display and an active state when the tablet computer is detached from the display.

25. A method of operating a mobile human interface robot, the method comprising:

receiving a touch signal from a touch sensor system of the robot in response to a user touching the robot;

for a touching duration greater than a threshold period of time, driving the robot in a direction based on a location of contact on the robot;

for a touching duration less than the threshold period of time, articulating an interface of the robot to at least substantially face the location of contact on the robot; and

for a touching duration less than the threshold period of time, issuing a zero velocity drive command.

26. The method of claim 25, further comprising issuing a drive command to a holonomic drive system to move the robot in a direction toward an opposite of the robot of the received touching, for a touching duration greater than the threshold period of time.

27. The method of claim 25, wherein the threshold period of time comprises 0.25 seconds.

28. The method of claim 25, further comprising at least one of panning and tilting a head of the robot with respect to a connected torso of the robot to at least substantially face the head toward the location of contact on the robot, for a touching duration less than the threshold period of time.

29. The method of claim 25, wherein the touch sensor system comprises at least one of a capacitive sensor, a contact sensor, a camera, a three-dimensional image sensor, and a switch.

30. A mobile human interface robot comprising:

a drive system having at least one drive wheel driven by a corresponding drive motor;

a localization system in communication with the drive system;

a power source in communication with the drive system, the controller, and the localization system; and

a touch response input supported above the drive system;

wherein activation of the touch response input modifies delivery of power to the drive system to at least reduce a drive load of the drive motor on the corresponding at least one drive wheel.

31. The mobile human interface robot of claim 30, wherein activation of the touch response input ceases delivery of power to the drive system while allowing continued delivery of power to the localization system.

32. The mobile human interface robot of claim 30, wherein in response to activation of the touch response input, the drive system executes reduced power drive commands incapable alone of moving the robot and assisting user movement of the robot.

33. The mobile human interface robot of claim 30, wherein activation of the touch response input causes decoupling of the at least one drive wheel from the corresponding drive motor.

34. The mobile human interface robot of claim 30, wherein the touch response input is positioned between about 3 feet and about 5 feet above a ground surface.

35. The mobile human interface robot of claim 30, wherein the localization system comprises a sensor system and a controller in communication with the drive system, the sensor system, the power source, and the hold button.

36. The mobile human interface robot of claim 35, wherein the sensor system comprises at least one of an inertial measurement unit, an odometer, a global positioning system, a laser scanner, a sonar proximity sensor, and a three-dimensional image sensor.

37. The mobile human interface robot of claim 30, wherein the localization system comprises at least one of a three image sensors, a laser scanner, one or more sonar proximity sensors, a drive wheel encoder for the at least one drive wheel, and drive wheel motor feedback.

38. The mobile human interface robot of claim 30, wherein the drive system comprises first, second, and third holonomically driven drive wheels, each trilaterally spaced about a vertical axis of the robot and having a drive direction perpendicular to a radial axis with respect to the vertical axis;

39. The mobile human interface robot of claim 30, further comprising:

a base supporting the drive system;

an actuatable extendable leg disposed on the base; and

a torso supported by the leg between about 3 feet and about 5 feet above a ground surface, the touch response input disposed on the torso.

40. The mobile human interface robot of claim 30, when the touch responsive input comprises at least one of a contact sensor, a capacitive sensor, an actuatable button, and a switch.

41. A mobile human interface robot comprising:

a base defining a substantially trilaterally symmetric shape about a vertical center axis and having first, second, and third portions;

a holonomic drive system supported by the base, the drive system having first, second, and third drive wheels, each trilaterally spaced about the vertical center axis and supported by the corresponding first second and third base portions, each drive wheel having a drive direction perpendicular to a radial axis with respect to the vertical center axis;

a leg extending upward from the base and having a variable height;

a torso supported by the leg, the torso defining a shoulder having a bottom surface overhanging the base;

a torso imaging sensor disposed on the bottom surface of the torso and pointing downward along a forward drive direction of the drive system, the torso imaging sensor capturing three-dimensional images of a scene about the robot;

a neck supported by the torso;

a head supported by the neck, the neck panning and tilting the head with respect to the vertical center axis; and

a display supported by the head.

42. The mobile human interface robot of claim 41, wherein the display is releasably attached to the head.

43. The mobile human interface robot of claim 42, wherein the display comprises a locator for locating the display when detached from the head.

44. The mobile human interface robot of claim 41, wherein the display comprises tablet computer having a touch screen.

45. The mobile human interface robot of claim 41, further comprising a tablet computer releasably attached to the head.

46. The mobile human interface robot of claim 45, wherein the tablet computer is releasably received over the display.

47. The mobile human interface robot of claim 41, further comprising a camera disposed on the head.

48. The mobile human interface robot of claim 41, further comprising a head imaging sensor mounted on the head and capturing three-dimensional images of a scene about the robot.

49. The mobile human interface robot of claim 48, wherein the head imaging sensor comprises a volumetric point cloud imaging device positioned to be capable of obtaining a point cloud from a volume of space adjacent the robot.

50. The mobile human interface robot of claim 41, further comprising an arm disposed on the neck and supporting the head away from the neck.

51. The mobile human interface robot of claim 41, further comprising a manipulator arm disposed on the torso and an end effector disposed on a distal end of the manipulator arm.

52. The mobile human interface robot of claim 41, wherein the manipulator arm can vary in length.