Autonomous personal service robot

• US 20050216126A1
• Filed: 03/26/2005
• Published: 09/29/2005
• Est. Priority Date: 03/27/2004
• Status: Active Grant

• Current Assignee: Vision Robotics Corporation
• Original Assignee: Vision Robotics Corporation
• Inventors: Wallach, Bret, Koselka, Harvey, Gollaher, David
• Granted Patent: US 7,228,203 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G08B 21/0423 detecting deviation from an expected pattern of behaviour or schedule
• CPC Class Codes: G08B 21/043 detecting an emergency event, e.g. a fall
• CPC Class Codes: G08B 21/0461 integrated or attached to an item closely associated with the person but not worn by the person, e.g. chair, walking stick, bed sensor
• CPC Class Codes: G08B 21/0476 Cameras to detect unsafe condition, e.g. video cameras
• CPC Class Codes: G08B 21/14 Toxic gas alarms G08B21/16 takes precedence

Abstract

Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.

Claims

1. An autonomous personal service robot comprising:

a frame;

a drive system coupled with said frame and configured to move said frame;

one or more cameras coupled with said frame;

a communications interface coupled with said frame; and

,

a processor coupled with said communications interface and configured to identify, track and learn habits of a specific person and determine if an out-of-ordinary event has occurred.

2. The apparatus of claim 1 wherein said one or more cameras comprise a pair of cameras that are offset from a horizontal axis between 0 and 90 degrees.

3. The apparatus of claim 1 wherein said processor is further configured to provide an alarm based on said out-of-ordinary event wherein said alarm is transmitted over said communications interface.

4. The apparatus of claim 1 further comprising:

said processor further configured to identify said specific person from a plurality of persons.

5. The apparatus of claim 1 further comprising:

said processor further configured to determine if said specific person is in an unusual location wherein said specific person is sitting or laying down for a time period over a threshold.

6. The apparatus of claim 1 further comprising:

said processor further configured to respond to emergency cries from said specific user.

7. The apparatus of claim 1 further comprising:

said processor further configured to transmit a picture taken with said one or more cameras to a second person.

8. The apparatus of claim 1 further comprising:

said processor further configured to remind said specific user to perform a task.

9. The apparatus of claim 1 further comprising:

said processor further configured to operate as an alarm clock.

10. The apparatus of claim 1 further comprising:

an arm configured to obtain and operate objects.

11. The apparatus of claim 1 further comprising:

a medical dispenser configured to dispense medication at programmable intervals.

12. The apparatus of claim 11 further comprising:

said processor further configured to alert a second person if said medication is not utilized by said specific person.

13. The apparatus of claim 1 wherein said communications interface comprises an answering machine and dialer for making calls.

14. The apparatus of claim 1 further comprising:

a thermometer;

15. The apparatus of claim 1 further comprising:

a smoke detector.

16. The apparatus of claim 1 further comprising:

a carbon monoxide detector.

17. The apparatus of claim 1 further comprising:

an emergency light.

18. The apparatus of claim 1 further comprising:

a fire extinguisher configured to put out a fire as detected by a sensor coupled with said frame.

19. The apparatus of claim 1 further comprising:

a thermometer;

a smoke detector;

a carbon monoxide detector;

a fire extinguisher configured to put out a fire as detected by said thermometer, said smoke detector or said carbon monoxide detector.

20. The apparatus of claim 1 further comprising:

a tray top for transporting items so that said specific person is not required to carry said items.

21. The apparatus of claim 1 further comprising:

an RFID tracker configured to find an item comprising an RFID tag.

22. The apparatus of claim 1 further comprising:

an RFID tracker configured to find said specific person associated with an RFID tag.

23. The apparatus of claim 1 further comprising:

an RFID tracker configured to locate said specific person.

24. The apparatus of claim 1 further comprising:

a light source;

25. The apparatus of claim 24 wherein said light source is infrared.

26. The apparatus of claim 24 wherein said light source is visible.

27. The apparatus of claim 1 further comprising:

an audio device.

28. A method for utilizing an autonomous personal service robot comprising:

coupling a power source with a personal service robot;

programming contact information for use by said personal service robot;

identifying a specific person;

tracking said specific person;

learning habits of said specific person; and

,

determining if an out-of-ordinary event has occurred for generating a response.

29. The method of claim 28 further comprising:

exploring an environment.

30. The method of claim 28 further comprising:

obtaining power for said personal service robot from a base station.

31. The method of claim 28 wherein said one or more cameras comprise a pair of cameras that are offset from a horizontal axis between 0 and 90 degrees.

32. The method of claim 28 further comprising:

transmitting an alarm based on said out-of-ordinary event.

33. The method of claim 28 further comprising:

determining if visitors are present.

34. The method of claim 28 further comprising:

determining if said specific person is in an unusual location.

35. The method of claim 28 further comprising:

determining if said specific person has been stationary for a time period over a threshold.

36. The method of claim 28 further comprising:

determining if said specific person is asking for help.

37. The method of claim 28 further comprising:

transmitting a picture taken from said one or more cameras to a second person.

38. The method of claim 28 further comprising:

reminding said specific person to perform a task.

39. The method of claim 28 further comprising:

dispensing medicine to said specific person.

40. The method of claim 28 further comprising:

coupling a medicine dispenser to said frame and dispensing medicine.

41. The method of claim 28 further comprising:

answering an incoming call via said communications interface.

42. The method of claim 28 further comprising:

transmitting an outgoing call via said communications interface.

43. The method of claim 28 further comprising:

coupling a tray top to said personal service robot and transporting an item on said tray top.

44. The method of claim 28 further comprising:

coupling an RFID tracker to said personal service robot and locating an item comprising an RFID tag.

45. The method of claim 28 further comprising:

coupling an RFID tracker to said personal service robot and locating said specific person.