Mobile Robot Map Generation
First Claim
1. A mobile robot, comprising:
- a motorized base configured to move the mobile robot throughout a floor of a building;
a wireless transceiver configured to communicatively couple to a hardware system of the building and to receive a semantic map including, for each of a set of objects within the floor of the building, an identity of the object and a location of the object;
a housing body storing one or more sensors configured to detect an object within a proximity of the patrol route; and
a controller configured to;
determine a location of the object;
query the semantic map with the determined location to identify a result set of objects and corresponding object states within a threshold distance of the detected object;
determine if the detected object violates one or more security policies based on the identified result set of objects and corresponding object states; and
in response to determining that the detected object violates the one or more security policies, performing one or more security operations.
1 Assignment
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Accused Products
Abstract
A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.
81 Citations
20 Claims
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1. A mobile robot, comprising:
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a motorized base configured to move the mobile robot throughout a floor of a building; a wireless transceiver configured to communicatively couple to a hardware system of the building and to receive a semantic map including, for each of a set of objects within the floor of the building, an identity of the object and a location of the object; a housing body storing one or more sensors configured to detect an object within a proximity of the patrol route; and a controller configured to; determine a location of the object; query the semantic map with the determined location to identify a result set of objects and corresponding object states within a threshold distance of the detected object; determine if the detected object violates one or more security policies based on the identified result set of objects and corresponding object states; and in response to determining that the detected object violates the one or more security policies, performing one or more security operations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method, comprising:
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patrolling, by a mobile robot, a route through a building floor; accessing, by the mobile robot, a semantic map including, for each of a set of objects within the building floor, an identity of the object and a location of the object; detecting, by the mobile robot, an object within a proximity of the patrol route; querying, by the mobile robot, the semantic map with a location of the detected object to identify a result set of objects and corresponding object states within a threshold distance of the detected object; determining, by the mobile robot, if the detected object violates one or more security policies based on the identified result set of objects and corresponding object states; and in response to determining that the detected object violates the one or more security policies, performing, by the mobile robot, one or more security operations. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A mobile robot, comprising:
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a motorized base configured to move the mobile robot throughout a floor of a building; a housing body, the housing body including; a first set of sensors configured to detect locations of a set of obstacles within the floor of the building and to detect a set of paths between the detected obstacles; a second set of sensors configured to detect a set of objects within the floor of the building, and to detect, for each object, a type and a state of the object; a map generation engine configured to generate a semantic map based on the detected set of obstacles and the detected set of paths, the semantic map further identifying a location of each of the set of objects within the floor and identifying the type and state of each object; a security engine configured to determine, based on the detected state of a first detected object, that the first detected object violates one or more security policies; and a wireless transceiver configured to provide, to a central system communicatively coupled to the mobile robot, the semantic map, information identifying the first detected object, and information describing the violation of the one or more security policies. - View Dependent Claims (18, 19, 20)
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Specification