Self-propelled robot assistant

• US 9,395,723 B2
• Filed: 09/30/2013
• Issued: 07/19/2016
• Est. Priority Date: 09/30/2013
• Status: Active Grant

• Current Assignee: Five Elements Robotics, Inc.
• Original Assignee: Five Elements Robotics, Inc.
• Inventors: Pari, James, Lynch, Nicholas
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US14/041,901
• Publication Number:
  US 20150094879A1
• Time in Patent Office: 1,023 Days
• Field of Search: 701/2
• US Class Current: 1/1
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/12 Target-seeking control
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A self-propelled robot and method for operating the same are provided. The self-propelled robot includes a base, a drive motor, a communication transceiver, at least two laterally spaced-apart range finding sensors and a processor. The base defines a bottom of a payload receiving space. The drive motor is operable to propel the base across a surface. The communication transceiver is configured to communicate with a carry sensor that is remote from the robot. The range finding sensors are configured to provide range information indicative of a distance between the remote device and the range finding sensors. The processor is configured to, when communication transceiver is in communication with the remote device, operate the drive motor to maintain a predefined distance between the range finding sensor and the carry sensor.

Claims

1. A self-propelled robot comprising:

a base comprising;

a front forward facing a primary forward direction of travel;

drive wheels coupled to the body proximate the front of the base and orthogonal to the primary forward direction of travel; and

at least one drive motor coupled to the drive wheels operable to steer and propel the base across a surface;

a head comprising;

a communication transceiver configured to communicate with a carry sensor that is remote from the robot; and

at least two laterally spaced-apart ultrasonic range finding sensors, wherein the ultrasonic range finding sensors are directionally forward facing passive receivers relative to the primary direction of travel and in a parallel alignment to the drive wheels, the ultrasonic range finding sensors configured to locate and track the carry sensor in two-dimensional space;

a neck connecting the head to the base, the neck movable to space the head away from the base when in an erect position, the neck movable to space the head proximate the base when in a collapsed position;

a container assembly supported between the head and the base; and

a processor in communication with the ultrasonic range finding sensor and the drive motor, the processor configured to, when communication transceiver is in communication with the carry sensor and the ultrasonic range finding sensor receives an ultrasonic signal from the carry sensor, operate the drive motor to maintain the ultrasonic range finding sensors oriented forward facing in the direction of travel toward the carry sensor and maintain a predefined distance between the ultrasonic range finding sensor and the carry sensor.

2. The robot of claim 1, wherein the neck is coupled to a rear side of the base, the neck having a curvature placing the head substantially over a front portion of the base.

3. The robot of claim 1, wherein the container assembly comprises:

a lid movable between an open position and a closed position.

4. The robot of claim 1 further comprising:

a tilt sensor, a bump sensor, and a cliff sensor, the sensors interfaced with the processor.

5. The robot of claim 1, wherein the neck further comprises:

one or more handles.

6. The robot of claim 1, wherein the range finding sensors have a range between about 0.1 meter to about 5.0 meters.

7. The robot of claim 1, wherein the communication transceiver is a radio frequency transceiver.

8. The robot of claim 7, wherein the carry sensor is a radio frequency transceiver and an ultrasonic transmitter.

9. The robot of claim 8, wherein the communication transceiver pairs with the carry sensor.

10. The robot of claim 9, wherein the range finding sensors is configured to calculate a line of sight distance to the paired carry sensor.

11. The robot of claim 9, wherein the processor is configured to stop the drive motor when the calculated range to the paired carry sensor exceeds a threshold value.

12. The robot of claim 1, wherein the ultrasonic range finding sensors are located at the farthest lateral separation on a longitudinal axis of the head.

13. The robot of claim 12, wherein the processor includes:

an internal clock for providing timing for an ultrasonic signal from the range finding sensors for calculating the distance between the ultrasonic sensor and the carry sensor.

14. The robot of claim 12, wherein the carry sensors has an ultrasonic transmitter.

15. The robot of claim 14, wherein the range finding sensors may enter a receive mode after communicating to the carry sensor and remain in the receive mode until the range finding sensors either receives the ultrasonic signal from the carry sensor or times out.

16. The robot of claim 15, wherein the time out stops the motor and transitions the processor into a wait state.

17. A self-propelled robot comprising:

a base comprising;

a front which faces a primary forward direction of travel;

drive wheels coupled to the body proximate the front of the base and aligned with the primary forward direction of travel; and

at least one drive motor coupled to the drive wheels operable to steer and propel the base across a surface;

a head having at least two laterally spaced-apart forward facing ultrasonic range finding sensors relative to the primary direction of travel and in a parallel alignment with the drive wheels, the ultrasonic range finding sensors configured to locate and track a carry sensor in two-dimensional space, wherein the ultrasonic range finding sensors are passive receivers and configured to communicate with the carry sensor that is remote from the robot;

a neck connecting the head to the base, the neck movable to space the head away from the base when in an erect position, the neck movable to space the head proximate the base when in a collapsed position;

at least one drive motor operable to propel the base across a surface;

a radio frequency communication transceiver configured to communicate and pair with the carry sensor having an ultrasonic transmitter;

a container assembly supported between the head and the base; and

a processor in communication with the ultrasonic range finding sensor, the processor configured to, when communication transceiver is paired with the carry sensor and the ultrasonic range finding sensors receives an ultrasonic signal from the carry sensor, operate the drive motor to maintain the ultrasonic range finding sensors oriented forward facing in the direction of travel toward the carry sensor and maintain a predefined distance between the ultrasonic range finding sensor and the carry sensor.