Mobile Human Interface Robot

• US 20150073598A1
• Filed: 11/18/2014
• Published: 03/12/2015
• Est. Priority Date: 05/20/2010
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Rosenstein, Michael T., Won, Chikyung, Shamlian, Steven V., Halloran, Michael, Chiappetta, Mark, Lansberry, Geoffrey, Allen, Thoma P.
• Granted Patent: US 9,498,886 B2
• Time in Patent Office: Days
• US Class Current: 700/264
• 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 including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.

Claims

1. 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 and the localization system; and

a touch response input supported above the drive system, activation of the touch response input modifying delivery of power to the drive system to at least reduce a drive load of the corresponding drive motor of the at least one drive wheel while allowing continued delivery of power to the localization system.

2. The mobile human interface robot of claim 1, wherein activation of the ouch response input causes the drive system to execute reduced power assisted drive commands incapable alone of moving the robot, yet providing active assistance that reduces a user movement resistance of the robot, the reduced power assisted drive commands propelling the robot with assistance from a user in contact with the robot.

3. The mobile human interface robot of claim 1, 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.

4. The mobile human interface robot of claim 1, wherein the touch responsive input comprises at least one of a contact sensor, a capacitive sensor, an actuatable button, or a switch.

5. The mobile human interface robot of claim 1, wherein the touch response input is positioned between about 3 feet and about 5 feet above a ground surface supporting the at least one drive wheel.

6. The mobile human interface robot of claim 1, 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 touch response input.

7. The mobile human interface robot of claim 6, wherein the controller increases a movement resistance of the robot in a direction opposite of a received touch by the touch response input.

8. The mobile human interface robot of claim 6, 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, or a three-dimensional image sensor.

9. The mobile human interface robot of claim 1, wherein the localization system comprises at least one of a three dimensional image sensor, a laser scanner, one or more sonar proximity sensors, a drive wheel encoder for the at least one drive wheel, or drive wheel motor feedback.

10. The mobile human interface robot of claim 1, further comprising:

a base supporting the drive system, the drive system comprising holonomically driven drive wheels;

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 supporting the at least one drive wheel, the touch response input disposed on the torso.

11. A method comprising:

receiving, at a computing processor of a mobile robot, an indication of a received touch by a touch response input disposed above a drive system of the mobile robot with respect to a ground surface supporting the mobile robot, the drive system having at least one drive wheel driven by a corresponding drive motor; and

in response to receiving the indication of the received touch, modifying, using the computing processor, delivery of power from a power source to the drive system to at least reduce a drive load of the corresponding drive motor of the at least one drive wheel while allowing continued delivery of power to a localization system of the mobile robot.

12. The method of claim 11, further comprising, in response to receiving the indication of the received touch, executing, using the computing processor, reduced power assisted drive commands incapable alone of moving the robot, yet providing active assistance that reduces a user movement resistance of the robot, the reduced power assisted drive commands propelling the robot with assistance from a user in contact with the robot.

13. The method of claim 11, further comprising, in response to receiving the indication of the received touch, ceasing delivery of power to the drive system, using the computing processor, while allowing continued delivery of power to the localization system.

14. The method of claim 11, further comprising, in response to not receiving the indication of the received touch for a threshold touch period of time, executing, using the computing processor, a stop driving routine.

15. The method of claim 14, wherein the stop driving routine comprises executing a stop drive command for the drive system that brings the robot to a stopped position after a threshold stop period of time.

16. The method of claim 15, wherein the threshold touch period of time is about 2 seconds and the threshold stop period of time is about 0.5 seconds.

17. The method of claim 11, further comprising, when the indication of the received touch indicates an upward force on the mobile robot, increasing an adjustable height of the mobile robot, and when the indication of the received touch indicates a downward force on the mobile robot, decreasing the adjustable height of the mobile robot.

18. The method of claim 11, further comprising, when the indication of the received touch indicates attempted manipulation of a movable portion of the mobile robot, issuing a command, using the computing processor, to assist movement of the movable portion of the mobile robot corresponding to the attempted manipulation.

19. The method of claim 11, further comprising executing, using the computing processor, one or more movement commands for the drive system that increases a movement resistance of the robot in a direction opposite of a received touch by the touch response input.

20. The method of claim 11, wherein the touch responsive input comprises at least one of a contact sensor, a capacitive sensor, an actuatable button, or a switch.

21. The method of claim 11, wherein the touch response input is positioned between about 3 feet and about 5 feet above the ground surface.