Apparatus and methods for providing a reconfigurable robotic platform

• US 10,518,407 B2
• Filed: 07/11/2017
• Issued: 12/31/2019
• Est. Priority Date: 01/06/2015
• Status: Active Grant

• Current Assignee: Nexus Robotics LLC
• Original Assignee: Discovery Robotics
• Inventors: Williams, Larry J., Rajendran, Vivek, Shah, Hardik, Kadem, Dharmateja, Blum, Jeffrey, Shah, Ishit, Bal, Manomit, Ulm, Britta Kathleen, Callen, David, Kumar, Sujith Vijaya, Kumar, Naman
• Primary Examiner(s): Mott, Adam R
• Application Number:
  US15/646,551
• Publication Number:
  US 20170312916A1
• Time in Patent Office: 903 Days
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to perform a wide variety of tasks utilizing the plurality of interchangeable service modules, and navigating through the service area utilizing a plurality of sensors and guided through a stored service plan for the service area.

Claims

1. A robot comprising:

a main body comprising;

a propulsion mechanism;

a positioning mechanism; and

a first processing unit adapted to direct a function of the main body; and

a removable service module comprising a module second processing unit in communication with the main first processing unit the removable service module adapted to perform a predefined service task wherein the second processing unit is adapted to direct a function of the removable service module;

wherein the first processing unit and the second processing unit engage in distributed processing to perform the predefined service task, wherein the removable service module is adapted to be installed in communication with the main body at a direction of the first processing unit based, at least in part, on a determination by the first processing unit that the second processing unit is capable of directing the service module to perform the predefined service task and wherein a distribution of functionality between the first processing unit and the second processing unit is defined via communication between the first processing unit and the second processing unit.

2. The robot of claim 1, wherein the positioning mechanism comprises a LIDAR system.

3. The robot of claim 1, wherein the removable service module comprises a power source.

4. The robot of claim 1, wherein the removable service module comprises at least one sensor.

5. The robot of claim 4, wherein the at least one sensor is an imaging component adapted to sense a condition of a generally planar surface proximate the robot.

6. The robot of claim 5, wherein the at least one sensor comprises a camera.

7. The robot of claim 5, wherein the at least one sensor comprises a LIDAR system.

8. The robot of claim 1 wherein the predefined service task comprises the servicing of a generally planar surface proximate the robot.

9. The robot of claim 1, wherein the positioning mechanism comprises a stereoscopic camera system.

10. The robot of claim 1, wherein the predefined service task comprises a single service task forming a part of a service plan comprising a plurality of service tasks wherein the plurality of service tasks are directed to a plurality of non-contiguous generally planar surfaces.

11. The robot of claim 10, wherein at least two of the plurality of non-contiguous generally planar surfaces are separated by elevation.

12. The robot of claim 1, wherein the first processing unit is adapted to receive an identifier of the removable service module and wherein the function directed by the first processing unit is determined, at least in part, by the identifier.

13. The robot of claim 12, wherein the first processing unit is adapted to utilize the identifier to identify at least one of a module type, a module tool type and a software version of the removable service module.

14. The robot of claim 12, wherein the first processing unit is adapted to utilize the identifier to perform an update of a software enabling interaction with the removable service module.

15. The robot of claim 1, wherein the function of the main body is selected from the group consisting of a navigation function and a service plan execution function.

16. The robot of claim 1, wherein the first processing unit is further adapted to output an indication of an exchange of the removable service module for an alternate removable service module.

17. The robot of claim 16, wherein the exchange of the removable service module is fully autonomous.

18. The robot of claim 16, wherein the exchange of the removable service module is semi-autonomous.

19. The robot of claim 18, wherein the robot further comprises a wireless communication module adapted to notify a human operator of a need for assistance with exchanging the removable service module.

20. A method comprising:

engaging a propulsion mechanism of a robot comprising a main body with a first processing unit and a removable service module to position the robot at a predetermined location, wherein the removable service module comprises a second processing unit in communication with the first processing unit the second processing unit adapted to direct a function of the removable service module and wherein the first processing unit and the second processing unit engage in distributed processing to perform a predefined service task, wherein the removable service module is adapted to be installed in communication with the main body at a direction of the first processing unit based, at least in part, on a determination by the first processing unit that the second processing unit is capable of directing the service module to perform the predefined service task and wherein a distribution of functionality between the first processing unit and the second processing unit is defined via communication between the first processing unit and the second processing unit; and

operating the removable service module to service a generally planar surface proximate the robot.

21. The method of claim 20, wherein positioning the robot comprises:

sensing an environment around the robot; and

determining a position of the robot by comparing the sensed environment to a model of an environment.

22. The method of claim 21, wherein sensing the environment comprises utilizing a LIDAR system.

23. The method of claim 21, wherein sensing the environment comprises utilizing a stereoscopic image.

24. The method of claim 20, further comprising selecting a removable service module for insertion into the robot.

25. The method of claim 24, wherein selecting the removable service module comprises selecting the removable service module based, at least in part, on a service plan.

26. The method of claim 25, wherein the service plan comprises a plurality of areas each with an associated defined removable service module for servicing each of the plurality of areas.

27. The method of claim 20, further comprising changing the removable service module in response to a change in a type of the generally planar surface proximate the robot.

28. The method of claim 27, wherein changing the removable service module comprises sliding the removable service module into the robot along at least two rails attached to the robot.