Building-Integrated Mobile Robot

• US 20170225336A1
• Filed: 02/06/2017
• Published: 08/10/2017
• Est. Priority Date: 02/09/2016
• Status: Active Grant

• Current Assignee: Cobalt Robotics, Inc.
• Original Assignee: Cobalt Robotics, Inc.
• Inventors: Deyle, Travis J., Schluntz, Erik
• Granted Patent: US 10,414,052 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 11/002 Manipulators for defensive or military tasks
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01V 8/10 Detecting, e.g. by using light barriers by reflection from the object G01S17/00
• CPC Class Codes: G05B 2219/45103 Security, surveillance applications
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06K 19/14 the marking being sensed by radiation
• CPC Class Codes: G06K 7/10297 arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00
• CPC Class Codes: G08B 13/196 using television cameras
• CPC Class Codes: G08B 13/19647 Systems specially adapted for intrusion detection in or around a vehicle
• CPC Class Codes: G08B 13/2491 : Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

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.

Claims

1. A mobile robot, comprising:

a motorized base configured to move the mobile robot along one or more patrol routes within a building;

a wireless transceiver configured to communicatively couple to a hardware system of the building;

a housing body storing one or more sensors configured to detect one of an object or an individual within a proximity of the patrol route; and

a controller configured to;

determine if the detected object or individual violates one or more security policies; and

in response to determining that the detected object or individual violates the one or more security policies, communicatively coupling, via the wireless transceiver, to the hardware system; and

performing, using the communicatively coupled hardware system, one or more security operations.

2. The mobile robot of claim 1, wherein the mobile robot is configured to periodically patrol one or more of the patrol routes.

3. The mobile robot of claim 1, wherein the mobile robot is configured to move along the one or more patrol routes without input from an operator.

4. The mobile robot of claim 1, wherein the one or more sensors comprise a camera system.

5. The mobile robot of claim 1, wherein the one or more sensors comprise an infrared sensor.

6. The mobile robot of claim 1, wherein determining if the detected object or individual violates the one or more security policies comprises determining if the individual is not authorized to be in a location of the individual.

7. The mobile robot of claim 1, wherein determining if the detected object or individual violates the one or more security policies comprises determining if the individual is performing an action that the individual is not authorized to perform.

8. The mobile robot of claim 1, wherein determining if the detected object or individual violates the one or more security policies comprises determining if the individual is not in possession of proper credentials.

9. The mobile robot of claim 1, wherein the detected object is a door, and wherein determining if the detected object violates the one or more security policies comprises determining that the door is unlocked or open.

10. The mobile robot of claim 1, wherein the detected object is a window, and wherein determining if the detected object violates the one or more security policies comprises determining that the window is open.

11. The mobile robot of claim 1, wherein determining if the detected object or individual violates the one or more security policies comprises determining that the detected object is malfunctioning.

12. The mobile robot of claim 1, wherein determining if the detected object or individual violates the one or more security policies comprises determining that the detected object is not in an authorized location.

13. The mobile robot of claim 1, wherein the hardware system comprises a camera system of the building located external to the mobile robot, and wherein performing the one or more security operations comprises recording video of the detected object or individual.

14. The mobile robot of claim 1, wherein the hardware system comprises one or more doors, and wherein performing the one or more security operations comprises locking the one or more doors.

15. The mobile robot of claim 1, wherein the hardware system comprises a central computing system, and wherein performing the one or more security operations comprises displaying a map of the building to a user of the central computing system and displaying a location on the displayed map of the detected object or individual.

16. The mobile robot of claim 1, wherein the hardware system comprises a central computing system, and wherein performing the one or more security operations comprises instructing security personnel to investigate the detected object or individual.

17. The mobile robot of claim 1, wherein the hardware system comprises a second robot, and wherein performing the one or more security operations comprises instructing the second robot to investigate the detected object or individual.

18. The mobile robot of claim 1, wherein the one or more security operations are performed without input from an operator.

19. The mobile robot of claim 1, wherein at least one security policy defines a set of individuals, a set of actions that the set of individuals are allowed to perform, and a set of locations in which the set of individuals are allowed.

20. The mobile robot of claim 1, wherein the detected object is the hardware system.

21. A method, comprising:

moving, by a mobile robot, along a patrol route within a building;

detecting, by a sensor of the mobile robot, one of an object or an individual within a proximity of the patrol route;

determining, by the mobile robot, if the detected object or individual violates one or more security policies;

in response to determining that the detected object or individual violates the one or more security policies;

communicatively coupling, by the mobile robot, to a hardware system of the building; and

performing, using the communicatively coupled hardware system, one or more security operations.