TRACKING AND FOLLOWING OF MOVING OBJECTS BY A MOBILE ROBOT
First Claim
Patent Images
1. A computer-implemented process comprising:
- receiving sensory data into memory from a robot;
tracking one or more objects in an environment of the robot using the sensory data;
directing the robot to move so as to maintain a relative position and orientation of the robot with respect to one or more of the tracked objects; and
controlling the movement of the robot so as to avoid obstacles using the sensory data.
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Abstract
A robot tracks objects using sensory data, and follows an object selected by a user. The object can be designated by a user from a set of objects recognized by the robot. The relative positions and orientations of the robot and object are determined. The position and orientation of the robot can be used so as to maintain a desired relationship between the object and the robot. Using the navigation system of the robot, during its movement, obstacles can be avoided. If the robot loses contact with the object being tracked, the robot can continue to navigate and search the environment until the object is reacquired.
62 Citations
20 Claims
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1. A computer-implemented process comprising:
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receiving sensory data into memory from a robot; tracking one or more objects in an environment of the robot using the sensory data; directing the robot to move so as to maintain a relative position and orientation of the robot with respect to one or more of the tracked objects; and controlling the movement of the robot so as to avoid obstacles using the sensory data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An article of manufacture comprising:
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a computer storage medium; computer program instructions stored on the computer storage medium which, when processed by a processing device, instruct the processing device to perform a process comprising; receiving sensory data into memory from a robot; tracking objects in an environment of the robot using the sensory data; directing the robot to move so as to maintain a relative position and orientation of the robot with respect to one or more of the tracked objects; controlling the movement of the robot so as to avoid obstacles using the sensory data; - View Dependent Claims (10, 11, 12, 13, 14)
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15. A computing machine comprising:
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an object recognition module having an input receiving sensory data from an environment of a robot and an output indicating objects recognized in the environment; a track and follow module having an input indicating a selected object to be tracked and an output indicating a position and orientation for the robot to follow the selected object; and a navigation module having an input receiving the position and orientation and an output to a motion control system of the robot directing the robot to move to the desired position and orientation along a path to avoid obstacles. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification