MAST SYSTEMS FOR AUTONOMOUS MOBILE ROBOTS

• US 20190032842A1
• Filed: 08/21/2018
• Published: 01/31/2019
• Est. Priority Date: 06/12/2017
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Chow, Patrick, Romanov, Nikolai
• Granted Patent: US 10,458,593 B2
• Time in Patent Office: Days
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B65H 2701/371 Curved tapes, e.g. "Spreizband"
• CPC Class Codes: B65H 75/425 attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
• CPC Class Codes: B65H 75/4402 Guiding arrangements to control paying-out and re-storing of the material guides per se B65H57/00
• CPC Class Codes: B65H 75/4486 Electric motors
• CPC Class Codes: E04C 3/005 Girders or columns that are rollable, collapsible or otherwise adjustable in length or height girders as supporting members for forms E04G11/54
• CPC Class Codes: F16M 11/04 Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
• CPC Class Codes: F16M 11/046 adapted to upward-downward translation movement
• CPC Class Codes: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/12 in more than one direction
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/40 by means of coilable or bendable legs or spiral shaped legs
• CPC Class Codes: F16M 11/42 with arrangement for propelling the support stands on wheels
• CPC Class Codes: G03B 17/56 Accessories carrying-cases A45C11/38
• CPC Class Codes: G03B 17/561 : Support related camera accessories
• CPC Class Codes: G03B 29/00 : Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects combinations with flash apparatus G03B15/03

Abstract

A protractible and retractable mast system for an autonomous mobile robot includes an elongate flexible member including a first lateral end and a second lateral end, and a fastener having a first portion extending along a length of the first lateral end and a second portion extending along a length of the second lateral end. The flexible member is configured to be at least partially coiled within a body of the robot, and a portion of the flexible member is vertically movable away from the body when the flexible member is being uncoiled. The fastener is configured to connect the first lateral end to the second lateral end when the flexible member is being uncoiled, and disconnect the first lateral end from the second lateral end when the flexible member is being coiled.

Claims

1-28. -28. (canceled)

29. An autonomous mobile robot comprising:

a body;

a drive configured to maneuver the body across a floor surface;

an image capture device;

an interface cable connecting the image capture device to a controller of the robot, the interface cable being configured to be spooled within the body; and

an elongate flexible member including a polymer portion and a textile portion, the elongate flexible member including a first portion having a first curvature and being coupled to the image capture device, a second portion having a second curvature less than the first curvature and being coiled within the body of the robot, and a third portion having a curvature that varies between the first curvature and the second curvature, the third portion connecting the first portion to the second portion.

30. The autonomous mobile robot of claim 29, wherein the elongate flexible member is configured to be at least partially coiled within the robot about a spool, the second portion of the elongate flexible member being attached to the spool, the third portion of the elongate flexible member being distal to the second portion, and the first portion of the elongate flexible member being distal to the first portion.

31. The autonomous mobile robot of claim 29, wherein the elongate flexible member is vertically protractible from the body of the robot to move the first portion with the image capture device vertically away from the body of the robot to a height of at least 0.5 meters above the floor surface.

32. The autonomous mobile robot of claim 29, wherein the polymer portion is attached to the textile portion.

33. The autonomous mobile robot of claim 29, comprising a zipper attached to the textile portion of the elongate flexible member, the zipper being in a closed position in the first portion and an open position in the second and third portions.

34. The autonomous mobile robot of claim 33, comprising a ramp attached to the body of the robot and configured to support the third portion of the elongate flexible member to reduce buckling.

35. The autonomous mobile robot of claim 33, wherein a first portion of the zipper is positioned along a first lateral edge of the elongate flexible member, and a second portion of the zipper is positioned along a second lateral edge of the elongate flexible member.

36. The autonomous mobile robot of claim 35, further comprising a fastening and unfastening device positioned below a top surface of the body, the fastening and unfastening device being configured to connect the first portion of the zipper and the second portion of the zipper such that the flexible member forms a conduit around a portion of the interface cable.

37. The autonomous mobile robot of claim 29, wherein a thickness of the polymer portion of the elongate flexible member is between 0.1 and 1 millimeter, and a thickness of the textile portion is between 0.1 and 1 millimeter.

38. The autonomous mobile robot of claim 37, wherein the thickness of the polymer portion is between 30% and 70% of an overall thickness of the elongate flexible member.

39. The autonomous mobile robot of claim 29, further comprising a conduit within at least the first portion of the elongate flexible member, the conduit having a width between 0.5 centimeters and 2.5 centimeters.

40. The autonomous mobile robot of claim 29, wherein a width of the first portion of the elongate flexible member is between 60 millimeters and 120 millimeters.

41. The autonomous mobile robot of claim 29, wherein the second portion is substantially flat.

42. A protractible and retractable mast system for an autonomous mobile robot, the mast system comprising:

an elongate flexible member including a polymer portion and a textile portion, the elongate flexible member including a first portion having a first curvature and being configured to be coupled to an image capture device of the robot, a second portion having a second curvature less than the first curvature and being configured to be coiled within the robot, and a third portion having a curvature that varies between the first curvature and the second curvature, the third portion connecting the first portion to the second portion; and

a drive roller rotatable in a first direction to move the first portion of the elongate flexible member away from the robot, and rotatable in a second direction to move the first portion of the elongate flexible member toward the robot.

43. The mast system of claim 42, wherein the elongate flexible member is configured to be at least partially coiled within the robot about a spool, the second portion of the elongate flexible member being attached to the spool, the third portion of the elongate flexible member being distal to the second portion, and the first portion of the elongate flexible member being distal to the first portion.

44. The mast system of claim 42, wherein the polymer portion is attached to the textile portion.

45. The mast system of claim 42, comprising a zipper attached to the textile portion of the elongate flexible member, the zipper being in a closed position in the first portion and an open position in the second and third portions.

46. The mast system of claim 45, comprising a ramp configured to support the third portion of the elongate flexible member to reduce buckling.

47. The mast system of claim 45, wherein a first portion of the zipper is positioned along a first lateral edge of the elongate flexible member, and a second portion of the zipper is positioned along a second lateral edge of the elongate flexible member.

48. The mast system of claim 47, further comprising a fastening and unfastening device configured to connect the first portion of the zipper and the second portion of the zipper such that the flexible member forms a conduit for an interface cable of the robot.

49. The mast system of claim 42, wherein a thickness of the polymer portion of the elongate flexible member is between 0.1 and 1 millimeter, and a thickness of the textile portion is between 0.1 and 1 millimeter.

50. The mast system of claim 49, wherein the thickness of the polymer portion is between 30% and 70% of an overall thickness of the elongate flexible member.

51. The mast system of claim 42, further comprising a conduit within at least the first portion of the elongate flexible member, the conduit having a width between 0.5 centimeters and 2.5 centimeters.

52. The mast system of claim 42, wherein a width of the first portion of the elongate flexible member is between 60 millimeters and 120 millimeters.

53. The mast system of claim 42, wherein the second portion is substantially flat.