Companion robot for personal interaction

• US 8,583,282 B2
• Filed: 09/29/2006
• Issued: 11/12/2013
• Est. Priority Date: 09/30/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Angle, Colin, Vu, Clara, Cross, Matthew, Campbell, Tony L.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US11/541,422
• Publication Number:
  US 20070199108A1
• Time in Patent Office: 2,601 Days
• Field of Search: 700/245, 700/253, 700/254, 700/258, 700/259, 701/2, 701/300, 701/302
• US Class Current: 700/245
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/06 Safety devices
• 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: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/027 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 1/0272 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: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
• CPC Class Codes: G16H 20/00 ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
• CPC Class Codes: G16H 20/13 delivered from dispensers
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: G16H 40/67 : for remote operation
• CPC Class Codes: G16H 70/40 : relating to drugs, e.g. their side effects or intended usage
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Claims

1. A method performed by a robot for maintaining proximity between a person and the robot, the method comprising:

initializing a presence score indicative of proximity of the person;

detecting the person within a detection range of the robot, and in response, improving the presence score;

detecting that the person is not within the detection range of the robot and decaying the presence score to progressively worsen as a function of time;

determining that the presence score, as decayed, has decayed to a first threshold presence score, wherein the first threshold presence score is selected so that at least some time passes before the presence score decays to the first threshold presence score; and

then,

in response to determining that the presence score has decayed to the first threshold presence score, initiating a searching routine to locate the person, thereby tending to keep the robot in a same room as the person, but without close following.

2. The method of claim 1, wherein:

the method further comprises parking the robot in a charging station, engaged to recharge, when the presence score improves to a second threshold presence score.

3. The method of claim 1, wherein:

improving the presence score comprises improving the presence score at an accelerating rate.

4. The method of claim 1, wherein:

improving the presence score comprises improving the presence score at a first rate at a first time of day and improving the presence score at a second rate at a second time of day.

5. The method of claim 1, wherein:

initiating the searching routine to locate the person comprises driving to a first room having a first comfort score and then driving to a second room having a second comfort score, where the first comfort score is higher than the second comfort score.

6. The method of claim 1, wherein:

the method further comprises recording an exit used by the person from a room; and

driving the robot to the different location comprises driving through the exit used by the person.

7. The method of claim 1, further comprising:

maintaining a security score that measures whether the robot is close to a charging station; and

driving the robot to the charging station when the security score is below a security threshold score.

8. The method of claim 1, wherein:

decaying the presence score comprises decaying the presence score at a rate;

the method further comprises determining that a charging station is in a room with the robot and adjusting the rate.

9. The method of claim 1, further comprising, after initiating the searching routine, finding the person and parking the robot proximate the person.

10. The method of claim 9, wherein parking the robot proximate the person comprises parking in a position that does not block traffic paths.

11. The method of claim 9, wherein parking the robot proximate the person comprises determining that the person is in a corridor or small room and, in response, parking in a nearby room.

12. The method of claim 1, further comprising, after initiating the searching routine, finding the person, determining that the person is in a corridor or small room and, in response, parking somewhere besides the corridor or small room.

13. The method of claim 1, further comprising, after initiating the searching routine, finding the person and parking in a position within the detection range of the person.