Robotic camera system

• US 10,880,470 B2
• Filed: 04/19/2018
• Issued: 12/29/2020
• Est. Priority Date: 08/27/2015
• Status: Active Grant

• Current Assignee: Accel Robotics Corporation
• Original Assignee: Accel Robotics Corporation
• Inventors: Buibas, Marius O., Cseh, Martin A., Maseda, Michael B., Morozovsky, Nicholas J.
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/957,748
• Publication Number:
  US 20180241938A1
• Time in Patent Office: 985 Days
• Field of Search: 700245-264
• CPC Class Codes: B25J 18/02 extensible
• CPC Class Codes: B25J 9/0075 Truss
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06F 3/04883 for inputting data by handwriting, e.g. gesture or text
• CPC Class Codes: G06T 1/0014 Image feed-back for automatic industrial control, e.g. robot with camera robots B25J19/023
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 23/64 Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robot for capturing image frames of subjects in response to a request includes a base, a robot head, a camera, a vertical positioning mechanism, and a control system. The base has a transport mechanism for controllably positioning the robot along a lateral surface. The vertical positioning mechanism couples the robot head to the base and adjusts a vertical distance between the robot head and the support surface. The control system controls image capture of the camera, the transport mechanism, and the vertical positioning mechanism.

Claims

1. A camera robot for capturing image frames comprising:

a base having a transport mechanism that controllably imparts motion and positions the robot along a support surface;

a robot head;

a camera mounted to the robot head;

a vertical positioning mechanism that couples the robot head to the base, the vertical positioning mechanism controllably adjusts a vertical distance between the robot head and the support surface;

a controller configured to control;

image capture of the camera;

the transport mechanism to thereby determine lateral positioning and rotation about a vertical axis; and

the vertical positioning mechanism to thereby determine a distance between the robot head and the base;

wherein the vertical positioning mechanism includes a scissor mechanism including a plurality of connected scissor links coupled to a link drive mechanism, wherein the link drive mechanism controllably causes scissor links of said plurality of connected scissor links to rotate relative to one another, and wherein a relative angular rotation of the scissor links determines the vertical distance between the robot head and the base.

2. The camera robot of claim 1 wherein the camera includes a plurality of cameras that individually capture different fields.

3. The camera robot of claim 2 wherein the different fields are overlapping and can be combined to provide stereoscopic information.

4. The camera robot of claim 2 wherein the different fields have non-overlapping portions in order to expand a field of view.

5. The camera robot of claim 4 wherein the different fields provide a 360 degree panoramic image capture.

6. The camera robot of claim 2 wherein the plurality of cameras includes two cameras including a forward facing and a backward facing camera.

7. The camera robot of claim 1 wherein the vertical positioning mechanism can vary the distance between the base and the robot head by a factor of at least two.

8. The robot of claim 1 wherein the vertical positioning mechanism can vary the distance between the base and the robot head by a factor of at least five.

9. The robot of claim 1 wherein the base includes three omni-directional wheels to provide the lateral positioning and the rotation about a vertical axis.

10. The robot of claim 1 wherein the controller is responsive to a request to initiate a photo session, the request originates from one or more of (1) a wireless command from a mobile device, (2) an input to a user interface attached to the robot, (3) an input to a touchscreen attached to the robot, (4) a signal from the camera, and (5) a gesture from the user as viewed from the camera and processed by the controller.

11. A camera robot for capturing image frames during a photo session in response to a request initiated by a user comprising:

a base having a transport mechanism;

a robot head;

a camera mounted to the robot head; and

a controller including a processor and a non-transient medium storing computer-readable instructions that when executed by the processor perform a method including;

receiving a request from the user for a photo session;

operating the transport mechanism to make a lateral adjustment with respect to a support surface and operate the vertical positioning apparatus to adjust a vertical position of the robot head in relation to the base, to frame the user in an image frame of the camera;

determining a position and orientation of the user, said determining comprising estimating a distance between said user and said camera robot;

moving the camera robot to within a specified distance of the user; and

operating the camera to capture an image of the user.

12. The robot camera of claim 11 wherein the request is received from one or more of (1) a wireless command from a mobile device, (2) an input to a user interface attached to the robot, (3) an input to a touchscreen attached to the robot, (4) an image captured by the camera, and (5) a gesture from the subject that is captured by the camera and processed by the controller.

13. The robot camera of claim 11 wherein the lateral adjustment includes one or more of a lateral location of the base and an orientation about a vertical axis.

14. The robot camera of claim 11 wherein the camera includes a plurality of cameras that individually capture different fields.

15. The robot camera of claim 14 wherein the fields are have overlapping portions to provide three-dimensional information.

16. The robot camera of claim 14 wherein the fields are have non-overlapping portions to expand a field of view beyond what one camera can provide.

17. A method of providing a providing images to a user of a subject comprising:

providing a camera robot including;

a base having a transport mechanism;

a robot head;

a camera mounted to the robot head; and

a vertical positioning mechanism that couples the robot head to the base, the vertical positioning mechanism controllably adjusts a vertical distance between the robot head and the support surface,

wherein the vertical positioning mechanism includes a scissor mechanism including a plurality of connected scissor links coupled to a link drive mechanism, wherein the link drive mechanism controllably causes scissor links of said plurality of connected scissor links to rotate relative to one another, and wherein a relative angular rotation of the scissor links determines the vertical distance between the robot head and the base;

receiving a request for a photo session from the user;

operating the transport mechanism to laterally position the camera robot relative to a subject;

operating the vertical positioning apparatus to adjust a vertical position of the robot head in relation to the base; and

operating the camera to capture an image of the subject, the image includes one or more images that define one or more of a still frame and a video sequence of images.

18. The method of claim 17 wherein the camera includes a plurality of cameras and the image includes a plurality of images from different fields, the method further includes combining the fields to provide one or more of an expanded field and three-dimensional information.

19. The method of claim 17 further comprising transferring the image to one or more of a cloud server, a social media platform, and a mobile device.