Autonomous modular robot

• US 10,802,499 B2
• Filed: 01/14/2019
• Issued: 10/13/2020
• Est. Priority Date: 05/12/2015
• Status: Active Grant

• Current Assignee: Viabot, Inc.
• Original Assignee: Viabot, Inc.
• Inventors: Ratanaphanyarat, Gregg, Ding, Dawei
• Primary Examiner(s): Ingram, Thomas
• Application Number:
  US16/247,482
• Publication Number:
  US 20190384315A1
• Time in Patent Office: 638 Days
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/023 Cartesian coordinate type
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

An autonomous modular robot includes an attachment retention system that for retaining two or more interchangeable attachments for performing unique tasks, e.g., steam cleaning, vacuuming, grass cutting, etc. The attachments may be sequentially positioned in the path of travel of the robot and configured to perform complementary tasks. For example, for cleaning a floor, a first attachment may be configured to vacuum the floor and a second attachment may be configured for steam cleaning the floor. The robot may also include a vertically translatable lift mechanism. The lift mechanism may include the attachment retention system, thereby allowing the attachments to be moved vertically. The lift mechanism may also include a dimension sensor proximate a top of the lift mechanism. The dimension sensor may be utilized to determine the size, e.g., a height and/or a width of the robot with any retained attachments, to help navigate the robot and avoid obstacles.

Claims

1. An autonomous modular robot comprising:

a main body;

a drive system attached to the main body and configured to move the main body;

an attachment retention system configured to couple two or more interchangeable attachments to the main body;

wherein each of the interchangeable attachments are configured to perform a task;

wherein the attachment retention system comprises a rail configured to attach to each of the two or more interchangeable attachments; and

wherein the rail is sized and shaped to couple with the interchangeable attachments;

a lift mechanism, wherein the attachment retention system is part of the lift mechanism; and

a control system configured to autonomously control;

the drive system; and

the interchangeable attachments upon coupling of the interchangeable attachments to the main body.

2. The autonomous modular robot of claim 1, further comprising a dimension sensor proximate a top of the lift mechanism.

3. The autonomous modular robot of claim 2, wherein the dimension sensor is a camera.

4. The autonomous modular robot of claim 3, wherein the camera is a collision detection sensor.

5. The autonomous modular robot of claim 1, wherein the lift mechanism is configured to laterally extend and retract.

6. The autonomous modular robot of claim 1, further comprising a power supply, wherein the power supply is on a side of the main body opposite the lift mechanism.

7. The autonomous modular robot of claim 6, further comprising an additional power supply, wherein the additional power supply is configured to attach to the lift mechanism.

8. The autonomous modular robot of claim 1, wherein the attachment retention system is configured to couple three or more interchangeable attachments to the main body.

9. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments comprise a steam cleaner.

10. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments comprise a vacuum cleaner.

11. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments comprise a grass cutter.

12. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments comprise one or more of a driveway sweeper, a snow blower, and a package grabber.

13. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments comprise a power supply.

14. The autonomous modular robot of claim 1, wherein the two or more interchangeable attachments are configured to perform complementary tasks.

15. The autonomous modular robot of claim 14, wherein the two or more interchangeable attachments comprise a vacuum cleaner and a steam cleaner.

16. The autonomous modular robot of claim 1, wherein the interchangeable attachment comprises a secondary control unit.

17. The autonomous modular robot of claim 1, further comprising one or more navigation sensors.

18. The autonomous modular robot of claim 17, wherein the one or more navigation sensors is selected from the group consisting of a camera, a proximity sensor, a ground sensor and a line detection sensor, or a combination thereof.

19. The autonomous modular robot of claim 1, wherein the drive system comprises:

one or more drive wheels and at least one motor connected to the drive wheels; and

one or more rotatable wheels proximate an end of the robot opposite to an end of the robot occupied by the drive wheels.

20. The autonomous modular robot of claim 19, wherein the control system is configured to lift the robot off the rotatable wheels and to balance the robot on the drive wheels.

21. The autonomous modular robot of claim 19, wherein a first rotatable wheel is mounted on a first frame extension of the main body, and a second rotatable wheel is mounted on the second frame extension of the main body, wherein the first and second frame extensions defined an open volume for accommodating the two more interchangeable attachments.