Mobile robot and method of operating thereof

• US 10,514,693 B2
• Filed: 05/26/2017
• Issued: 12/24/2019
• Est. Priority Date: 11/30/2010
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Inventors: Field, Timothy G., Weatherwax, David F., Hoffman, Orin P. F., Lenser, Scott R.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae L
• Application Number:
  US15/606,557
• Publication Number:
  US 20170329326A1
• Time in Patent Office: 942 Days
• Field of Search: 700254, 700245
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

Claims

1. A method of operating a mobile robot, the method comprising:

driving the robot according to a drive command issued by a remote operator control unit in communication with the robot;

determining a driven path of the robot from an origin;

after experiencing a loss of communications with the operator control unit, determining a retro-traverse drive command to maneuver the robot along a return path back to a communication location where the robot had established communications with the operator control unit;

driving the robot according to the determined retro-traverse drive command; and

in response to overshooting the communication location, driving the robot to the communication location by traversing the portion of the driven path that progressed past the communication location without re-traversing the entire return path back to the communication location.

2. The method of claim 1, further comprising at least periodically obtaining global positioning coordinates of a current location of the robot to determine the driven path.

3. The method of claim 1, wherein the return path back to the communication location coincides at least in part with a portion of the driven path.

4. The method of claim 1, further comprising storing the determined driven path in memory and continuously removing a portion of the determined driven path from the memory corresponding to the return path back to the communication location, such that, after overshooting the communication location the memory no longer stores the retro-traversed return path, and wherein the method includes, after overshooting the communication location, determining a new path back to the communication location.

5. The method of claim 1, further comprising ceasing driving the robot according to the determined retro-traverse drive command when the robot is within a threshold distance of the operator control unit.

6. The method of claim 1, further comprising displaying a drive view on the remote operator control unit in communication with the robot, the drive view having the driven path of the robot from the origin.

7. The method of claim 6, further comprising obtaining global positioning coordinates of a current location of the robot and displaying a map in the drive view using the global positioning coordinates, the driven path of the robot displayed on the map.

8. The method of claim 7, further comprising:

receiving robot position and movement data including gyro data;

determining if the robot is at rest, and if at rest, determining a gyro bias;

determining a three-dimensional gravity vector of the robot;

determining an ego-motion estimate of the robot based at least in part on the three-dimensional gravity vector, gyro bias, and gyro data; and

determining a robot global position by combining the ego-motion estimate and the global positioning coordinates of the robot.

9. The method of claim 8, wherein the robot position and movement data comprises:

gyro data including a robot angular rate and a robot acceleration;

robot odometry; and

global positioning coordinates of the robot.

10. The method of claim 9, further comprising determining the ego-motion estimate of the robot based at least in part on odometry.

11. The method of claim 8, further comprising using a Kalman filter to determine the three-dimensional gravity vector of the robot.

12. A method of operating a mobile robot, the method comprising:

driving the robot according to a heading issued by a remote operator control unit in communication with the robot;

upon detecting a deviation between a drive heading of the robot and the issued heading, determining a heading correction; and

driving the robot according to the determined heading correction until the drive heading matches the issued heading.

13. The method of claim 12, further comprising displaying a drive view on the remote operator control unit, the drive view showing a driven path of the robot from an origin and the heading of the robot.

14. The method of claim 12, further comprising obtaining global positioning coordinates of a current location of the robot and displaying a map in the drive view using the global positioning coordinates, the driven path of the robot displayed on the map.

15. The method of claim 14, further comprising:

receiving robot position and movement data including gyro data;

determining if the robot is at rest, and if at rest, determining a gyro bias;

determining a three-dimensional gravity vector of the robot;

determining an ego-motion estimate of the robot based at least in part on the three-dimensional gravity vector, gyro bias, and gyro data; and

determining a robot global position by combining the ego-motion estimate and the global positioning coordinates of the robot.

16. The method of claim 15, wherein the robot position and movement data comprises:

gyro data including a robot angular rate and a robot acceleration;

robot odometry; and

global positioning coordinates of the robot.

17. The method of claim 16, further comprising determining the ego-motion estimate of the robot based at least in part on odometry.

18. The method of claim 15, further comprising using a Kalman filter to determine the three-dimensional gravity vector of the robot.

19. The method of claim 15, further comprising using a particle filter to determine the robot global position.

20. The method of claim 15, further comprising at least periodically receiving the robot global position in the remote operator control unit and connecting the sequentially received robot global positions with a displayed line.