Operating a mobile robot
First Claim
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1. A method of operating a mobile mission robot, the method comprising:
- driving the mobile mission robot according to a drive command issued by a remote operator control unit in communication with the mobile mission robot, the mobile mission robot having a gripper thereon for retaining and transporting a repeater robot in communication with the operator control unit and the mobile mission robot, the repeater robot comprising;
a robot body;
a drive system supporting the robot body and configured to maneuver the repeater robot over a work surface;
a sensor system disposed on the robot body; and
a controller in communication with the drive system, the sensor system, and the operator control unit, the controller configured to execute a control arbitration system and a behavior system in communication with each other, the behavior system executing at least one behavior that influences execution of commands by the control arbitration system based on sensor signals received from the sensor system, the controller having a communication system configured to;
receive a first communication signal from the operator control unit and retransmit the first communication signal to the mobile mission robot; and
/orreceive a second communication signal from the mobile mission robot and retransmit the second communication signal to the operator control unit;
deploying the repeater robot by releasing the repeater robot from the gripper at a first distance from the operator control unit; and
driving the mobile mission robot to a second distance from the operator control unit, the second distance being greater than the first distance.
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Abstract
A robot system that includes an operator control unit, mission robot, and a repeater. The operator control unit has a display. The robot includes a robot body, a drive system supporting the robot body and configured to maneuver the robot over a work surface, and a controller in communication with the drive system and the operator control unit. The repeater receives a communication signal between the operator control unit and the robot and retransmits the signal.
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Citations
21 Claims
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1. A method of operating a mobile mission robot, the method comprising:
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driving the mobile mission robot according to a drive command issued by a remote operator control unit in communication with the mobile mission robot, the mobile mission robot having a gripper thereon for retaining and transporting a repeater robot in communication with the operator control unit and the mobile mission robot, the repeater robot comprising; a robot body; a drive system supporting the robot body and configured to maneuver the repeater robot over a work surface; a sensor system disposed on the robot body; and a controller in communication with the drive system, the sensor system, and the operator control unit, the controller configured to execute a control arbitration system and a behavior system in communication with each other, the behavior system executing at least one behavior that influences execution of commands by the control arbitration system based on sensor signals received from the sensor system, the controller having a communication system configured to; receive a first communication signal from the operator control unit and retransmit the first communication signal to the mobile mission robot; and
/orreceive a second communication signal from the mobile mission robot and retransmit the second communication signal to the operator control unit; deploying the repeater robot by releasing the repeater robot from the gripper at a first distance from the operator control unit; and driving the mobile mission robot to a second distance from the operator control unit, the second distance being greater than the first distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of operating a mobile mission robot, the method comprising:
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driving the mobile mission robot into a tunnel according to a drive command issued by a remote operator control unit in communication with the mobile mission robot; and deploying a repeater robot at an entrance of the tunnel along an axis defined by the tunnel, the repeater robot having a direct line of sight into the tunnel along or in parallel to the tunnel axis, the repeater robot comprising; a robot body; a drive system supporting the robot body and configured to maneuver the repeater robot over a work surface; a sensor system disposed on the robot body; and a controller in communication with the drive system, the sensor system, and the operator control unit, the controller configured to execute a control arbitration system and a behavior system in communication with each other, the behavior system executing at least one behavior that influences execution of commands by the control arbitration system based on sensor signals received from the sensor system, the controller having a communication system configured to; receive a communication signal from the operator control unit and retransmit that communication signal to the mobile mission robot positioned in the tunnel; and
/orreceive a communication signal from the mobile mission robot and retransmit that communication signal to the operator control unit. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A remote controller comprising:
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a computing processor; a display in communication with the computing processor; and a network interface in communication with the computing processor, the network interface receiving and displaying on the display images or video from first and second robots simultaneously, the first robot being an access point for the second robot by transporting and routing signals from both robots to the network interface, the first robot comprising; a robot body; a drive system supporting the robot body and configured to maneuver the first robot over a work surface; a sensor system disposed on the robot body; and a controller in communication with the drive system, the sensor system, and the operator control unit, the controller configured to execute a control arbitration system and a behavior system in communication with each other, the behavior system executing at least one behavior that influences execution of commands by the control arbitration system based on sensor signals received from the sensor system, the controller having a communication system configured to; receive a first communication signal from the network interface and retransmit the first communication signal to the second robot; and
/orreceive a second communication signal from the second robot and retransmit the second communication signal to the network interface. - View Dependent Claims (18, 19, 20, 21)
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Specification