Mobile Robot and Method of Operating Thereof

• US 20150355638A1
• Filed: 08/19/2015
• Published: 12/10/2015
• Est. Priority Date: 11/30/2010
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Field, Timothy G., Weatherwax, David F., Hoffman, Orin P.F., Lenser, Scott R.
• Granted Patent: US 9,665,096 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

Claims

1. A method of operating a mobile robot, the method comprising:

driving the robot according to a drive command issued by a remote operator control unit in communication with the robot;

determining a driven path from an origin;

after experiencing a loss of communications with the operator control unit, determining an orientation of the robot; and

executing a self-righting maneuver when the robot is oriented upside down, the self-righting maneuver comprising;

rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then

further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

2. The method of claim 1, wherein the appendage comprises at least one flipper rotatably mounted near one end of the main body of the robot, the at least one flipper rotatable in a continuous 360 degrees with respect to the main body.

3. The method of claim 2, further comprising moving the at least one flipper to place a center gravity of the at least one flipper in a position that maintains an overall center of gravity of the robot within an envelope of the 360 degree rotation of the at least one flipper.

4. The method of claim 2, wherein the at least one flipper comprises right and left flippers disposed on corresponding right and left sides of the main body, each flipper having a distal end, a pivot end pivotally coupled near the one end of the main body of the robot, and a flipper center of gravity between the distal and pivot ends, and wherein movement of the flippers alters a location of an overall center of gravity of the robot.

5. The method of claim 4, further comprising rotating the right and left flippers in unison or independently from each other.

6. The method of claim 2, wherein the at least one flipper comprises a flipper track support and driven track trained about the flipper track support.

7. The method of claim 1, wherein the appendage comprises:

an arm having a pivot end and a distal end, the pivot end pivotally coupled to the main body; and

a head mounted on the distal end of the arm.

8. The method of claim 1, wherein the appendage comprises:

an arm having a pivot end and a distal end, the pivot end pivotally coupled to the main body; and

a gripper mounted on the distal end of the arm.

9. The method of claim 1, further comprising:

receiving gyro data; and

determining the orientation of the robot using the gyro data.

10. The method of claim 1, wherein determining the orientation of the robot comprises:

receiving data signals from at least one three-dimensional angular rate gyro of the robot and/or at least one three-dimensional accelerometer of an inertial measurement unit of the robot; and

determining a three-dimensional gravity vector of the robot based on the received data signals.

11. The method of claim 10, further comprising using a Kalman filter to determine the three-dimensional gravity vector of the robot.

12. The method of claim 1, further comprising:

determining a retro-traverse drive command after experiencing the loss of communications with the operator control unit to maneuver the robot along a path back to a communication location where the robot had established communications with the operator control unit; and

driving the robot according to the retro-traverse drive command.

13. The method of claim 12, wherein the path back to the communication location coincides at least in part with a portion of the driven path from the origin.

14. The method of claim 1, further comprising at least periodically obtaining global positioning coordinates of a current location of the robot to determine the driven path.

15. The method of claim 1, wherein determining the driven path from the origin comprises:

receiving robot position and movement data comprising;

gyro data of the robot including a robot angular rate and a robot acceleration;

drive odometry of the robot; and

global positioning coordinates of the robot obtained from satellite communications;

when the robot is at rest, determining a gyro bias based on the gyro data;

determining a three-dimensional gravity vector of the robot based on the gyro data;

determining an ego-motion estimate of the robot by;

subtracting the gyro bias from the gyro data;

resolving the gyro data relative to the three-dimensional gravity vector; and

adding angular rates from the resolved gyro data to the drive odometry of the robot;

when the satellite communications used to obtain the global positioning coordinates of the robot are available, determining a robot global position by combining the ego-motion estimate and the global positioning coordinates of the robot;

when the satellite communications used to obtain the global positioning coordinates of the robot are unavailable, determining the robot global position of the robot based on at least one of the gyro data, the drive odometry, or dead reckoning.