SELF-PROPELLED ROBOT ASSISTANT

• US 20150094879A1
• Filed: 09/30/2013
• Published: 04/02/2015
• Est. Priority Date: 09/30/2013
• Status: Active Grant

• Current Assignee: Five Elements Robotics, Inc.
• Original Assignee: Five Elements Robotics, Inc.
• Inventors: PARI, James, LYNCH, Nicholas
• Granted Patent: US 9,395,723 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/12 Target-seeking control
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A self-propelled robot and method for operating the same are provided. The self-propelled robot includes a base, a drive motor, a communication transceiver, at least two laterally spaced-apart range finding sensors and a processor. The base defines a bottom of a payload receiving space. The drive motor is operable to propel the base across a surface. The communication transceiver is configured to communicate with a carry sensor that is remote from the robot. The range finding sensors are configured to provide range information indicative of a distance between the remote device and the range finding sensors. The processor is configured to, when communication transceiver is in communication with the remote device, operate the drive motor to maintain a predefined distance between the range finding sensor and the carry sensor.

Claims

1. A self-propelled robot comprising:

a base, the base defining a bottom of a payload receiving space;

a drive motor operable to propel the base across a surface;

a communication transceiver configured to communicate with a carry sensor that is remote from the robot;

at least two laterally spaced-apart range finding sensors configured to provide range information indicative of a distance between the remote device and the range finding sensors; and

a processor configured to, when communication transceiver is in communication with the remote device, operate the drive motor to maintain a predefined distance between the range finding sensor and the carry sensor.

2. The robot of claim 1 wherein the carry sensor is a transmitter with a unique identifier.

3. The robot of claim 1 wherein the communication transceiver is a radio frequency receiver and the range finding sensors comprise ultra sonic receivers.

4. The robot of claim 1 further comprising:

a head retaining the range finding sensors; and

a neck supporting the head above the body.

5. The robot of claim 4, wherein the head is movable between an erect position spaced from the base and a collapsed position adjacent the base.

6. The robot of claim 4, wherein the neck is coupled to the body by a hinge.

7. The robot of claim 4 further comprising:

a container assembly attachable to the neck.

8. The robot of claim 7, wherein the container assembly further comprises:

a lid selectively closing the container assembly.

9. The robot of claim 1 further comprising:

a tilt sensor, a bump sensor, and a cliff sensor, the sensors interfaced with the processor.

10. A self-propelled robot comprising:

a base;

a head having at least two laterally spaced-apart range finding sensors;

a neck connecting the head to the base, the neck movable to space the head away from the base when in an erect position, the neck movable to space the head proximate the base when in a collapsed position;

at least one drive motor operable to propel the base across a surface;

a communication transceiver configured to communicate with a carry sensor that is remote from the robot;

a container assembly supported between the head and the base; and

a processor configured to, when communication transceiver is in communication with the remote device, operate the drive motor to maintain a predefined distance between the range finding sensor and the carry sensor.

11. The robot of claim 10, wherein the neck is coupled to a rear side of the base, the neck having a curvature placing the head substantially over a front portion of the base.

12. The robot of claim 10, wherein the container assembly comprises:

a lid movable between an open position and a closed position.

13. The robot of claim 10 further comprising:

a tilt sensor, a bump sensor, and a cliff sensor, the sensors interfaced with the processor.

14. The robot of claim 10, wherein the neck further comprises:

one or more handles.

15. A method for operating a robot, the method comprising:

electronically pairing a transceiver of the robot with an carry sensor disposed on a user;

determining a distance to the user with a range finder mounted on the robot; and

autonomously following the user when communication transceiver is in communication with the carry sensor while maintaining a predefined distance between the range finding sensor and the carry sensor.

16. The method of claim 15 further comprising:

sensing a surface discontinuity utilizing sensors on board the robot;

determining if the surface discontinuity may be traversed by the robot; and

navigating around the surface discontinuity while maintaining the predefined distance between the range finding sensor and the carry sensor.

17. The method of claim 15 further comprising:

entering a wait state in response to communication between the communication transceiver and the remote device becoming lost, the robot not following the carry sensor while in the wait state.

18. The method of claim 15 further comprising:

sensing an obstacle utilizing sensors on board the robot;

determining if the obstacle may be traversed by the robot; and

navigating around the obstacle while maintaining the predefined distance between the range finding sensor and the carry sensor.

19. The method of claim 15, wherein the communication transceiver communicates with carry sensor the via RF.

20. The method of claim 15 further comprising:

collapsing the robot to an easily transportable state.