Mobile human interface robot
First Claim
1. A mobile human interface robot comprising:
- a drive system;
a controller in communication with the drive system, the controller comprising a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit, the controller having a display operating state and a driving operating state; and
an electronic display supported above the drive system and in communication with the controller;
wherein the controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and
wherein the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state, the controller executing the graphics computations and the mobility computations at separate times on the general purpose graphics processing unit.
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Accused Products
Abstract
A mobile human interface robot that includes a drive system, a controller in communication with the dive system, and an electronic display supported above the drive system and in communication with the controller. The controller includes a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.
440 Citations
55 Claims
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1. A mobile human interface robot comprising:
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a drive system; a controller in communication with the drive system, the controller comprising a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit, the controller having a display operating state and a driving operating state; and an electronic display supported above the drive system and in communication with the controller; wherein the controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and wherein the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state, the controller executing the graphics computations and the mobility computations at separate times on the general purpose graphics processing unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A mobile human interface robot comprising:
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a drive system; a controller in communication with the drive system; and a portable computing device detachably supported above the drive system and in wireless communication with the controller, the portable computing device comprising a central processing unit, a general purpose graphics processing unit, and memory in electrical communication with the central processing unit and the general purpose graphics processing unit; wherein the portable computing device executes graphics computations on the general purpose graphics processing unit for displaying graphics on an electronic display; and wherein the portable computing device executes mobility computations on the general purpose graphics processing unit, the controller issuing drive commands to the drive system based on the mobility computations, the portable computing device executing the graphics computations and the mobility computations at separate times on the general purpose graphics processing unit. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of operating a mobile robot, the method comprising:
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processing a display command on a central processing unit; executing graphics computations on a general purpose graphics processing unit for displaying graphics on an electronic display of the robot; processing a mobility command on the central processing unit; and executing mobility computations on the general purpose graphics processing unit for issuing drive commands to a drive system of the robot; wherein executing graphics computations and executing mobility computations occur at separate times on the general purpose graphics processing unit. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method of operating a mobile robot, the method comprising:
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receiving a layout map into memory of the robot, the layout map corresponding to an environment of the robot; moving the robot in the environment to a layout map location on the layout map; recording a robot map location on a robot map corresponding to the environment and produced by the robot using a sensor system of the robot; executing a distortion routine on a general purpose graphics processing unit of the robot to determine a distortion between the robot map and the layout map using the recorded robot map locations and the corresponding layout map locations; and applying the determined distortion to a target layout map location to determine a corresponding target robot map location; and executing graphics computations on the general purpose graphics processing unit for displaying graphics on an electronic display of the robot; wherein executing the graphics computations and executing the distortion routine occur at separate times on the general purpose graphics processing unit. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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43. A method of operating a mobile robot, the method comprising:
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receiving video data; executing a graphics routine on a general purpose graphics processing unit for displaying the video data on an electronic display; receiving sensor data from a sensor system of the robot; executing a mobility routine on the general purpose graphics processing unit for producing a local perceptual space corresponding to an environment around the robot; and executing a drive command to move to a location in the environment based on the local perceptual space; wherein executing the graphics routine and executing the mobility routine occur at separate times on the general purpose graphics processing unit. - View Dependent Claims (44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55)
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Specification