Mobile robot and method of operating thereof
First Claim
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1. A method of operating a mobile robot, the method comprising:
- driving the robot according to a drive direction;
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; and
upon regaining the satellite communications, obtaining global positioning coordinates of a current location of the robot and determining the robot global position by combining the ego-motion estimate and the global positioning coordinates of the current location of the robot;
determining a driven path of the robot from an origin based on the robot global position;
displaying a drive view on a remote operator control unit in communication with the robot, the drive view having the driven path of the robot from the origin; and
displaying a map in the drive view using the global positioning coordinates, the driven path of the robot displayed on the map.
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Abstract
A method of operating a mobile robot that includes driving the robot according to a drive direction, determining a driven path of the robot from an origin, and displaying a drive view on a remote operator control unit in communication with the robot. The drive view shows a driven path of the robot from the origin. The method further includes obtaining global positioning coordinates of a current location of the robot and displaying a map in the drive view using the global positioning coordinates. The driven path of the robot is displayed on the map.
34 Citations
9 Claims
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1. A method of operating a mobile robot, the method comprising:
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driving the robot according to a drive direction; 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; and upon regaining the satellite communications, obtaining global positioning coordinates of a current location of the robot and determining the robot global position by combining the ego-motion estimate and the global positioning coordinates of the current location of the robot; determining a driven path of the robot from an origin based on the robot global position; displaying a drive view on a remote operator control unit in communication with the robot, the drive view having the driven path of the robot from the origin; and displaying a map in the drive view using the global positioning coordinates, the driven path of the robot displayed on the map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification