Mobile human interface robot

• US 9,498,886 B2
• Filed: 11/18/2014
• Issued: 11/22/2016
• Est. Priority Date: 05/20/2010
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Rosenstein, Michael T., Won, Chikyung, Lansberry, Geoffrey, Shamlian, Steven V., Halloran, Michael, Chiappetta, Mark, Allen, Thomas P.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US14/546,192
• Publication Number:
  US 20150073598A1
• Time in Patent Office: 735 Days
• Field of Search: 700/264, 901/1
• US Class Current: 1/1
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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 1/0272 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: Y10S 901/01 Mobile robot

Abstract

A mobile human interface robot including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.

Claims

1. A method comprising:

receiving, at data processing hardware of a human interface robot, a touch signal from a touch sensor of a sensor system of the human interface robot, the sensor system responsive to human interaction, the touch signal indicative of human contact with the human interface robot and indicating a contact force direction with respect to a forward drive direction of the human interface robot; and

in response to receiving the touch signal, issuing at least one drive command from the data processing hardware to a drive system of the human interface robot, the at least one drive command causing the drive system to maneuver the human interface robot across a floor surface along a commanded drive direction corresponding to the contact force direction,

wherein the touch signal indicates a contact force magnitude of the human contact with the human interface robot, and the at least one drive command is based on the contact force magnitude.

2. The method of claim 1, further comprising, in response to receiving the touch signal, modifying a delivery of power to the drive system to at least reduce a drive load of a corresponding drive motor of at least one drive wheel while allowing continued delivery of power to the sensor system.

3. The method of claim 1, wherein the at least one drive command causes the drive system to execute reduced power assisted maneuvers incapable alone of moving the human interface robot, yet providing movement assistance that reduces a user movement resistance of the human interface robot, the reduced power assisted maneuvers propelling the human interface robot with assistance from a user in contact with the human interface robot.

7. The method of claim 1, further comprising, after cessation of receipt of the touch signal for a threshold period of time, issuing a stop drive command from the data processing hardware to the drive system that causes the drive system to cease maneuvering of the human interface robot.

8. The method of claim 1, wherein the sensor system further comprises at least one of a motion sensor, a contact sensor, a capacitive sensor, an actuatable button, a switch, an inertial measurement unit, an odometer, a global positioning system, a laser scanner, a sonar proximity sensor, or a three-dimensional image sensor.

9. The method of claim 1, wherein the sensor system comprises a touch response input positioned between about 3 feet and about 5 feet above the floor surface.

4. A method comprising:

receiving, at data processing hardware of a human interface robot, a touch signal from a sensor system of the human interface robot, the sensor system responsive to human interaction, the touch signal indicative of human contact with the human interface robot and indicating a contact force direction with respect to a forward drive direction of the human interface robot; and

in response to receiving the touch signal;

issuing at least one drive command from the data processing hardware to a drive system of the human interface robot, the at least one drive command causing the drive system to maneuver the human interface robot across a floor surface along a commanded drive direction corresponding to the contact force direction;

enabling a touch teleoperation behavior executing on the data processing hardware, the touch teleoperation behavior allowing the issuance of the at least one drive command that causes the drive system to maneuver the human interface robot along the drive direction corresponding to the contact force direction; and

disabling an obstacle detection and obstacle avoidance behavior executing on the data processing hardware while the touch teleoperation behavior is enabled, the obstacle detection and obstacle avoidance behavior configured to cause issuance of avoidance drive commands to the drive system that cause the drive system to maneuver the human interface robot to avoid contact with an object detected by the sensor system.

5. The method of claim 4, further comprising enabling the touch teleoperation behavior after receiving satisfaction of an enabling criterion.

6. The method of claim 4, further comprising:

enabling the touch teleoperation behavior after receiving the touch signal for an enabling threshold period of time; and

disabling the touch teleoperation behavior after cessation of receipt of the touch signal for a disabling threshold period of time.

10. A human interface robot comprising:

a robot body defining a forward drive direction;

a drive system supported by the robot body and configured to maneuver the human interface robot across a floor surface;

a sensor system disposed on the robot body and comprising a touch sensor responsive to human interaction; and

a controller in communication with the drive system and the sensor system, the controller configured to issue at least one drive command to the drive system in response to a touch signal received from the sensor system, the touch signal indicative of human contact with the robot body and indicating a contact force direction with respect to the forward drive direction, the at least one drive command causing the drive system to maneuver the human interface robot along a commanded drive direction corresponding to the contact force direction,

wherein the touch signal indicates a contact force magnitude of the human contact with the body, and the at least one drive commands is based on the contact force magnitude.

11. The human interface robot of claim 10, wherein the drive system comprises at least one drive wheel and a corresponding drive motor coupled to the at least one drive wheel, and the controller is configured to, in response to receiving the touch signal, modify a delivery of power to the drive system to at least reduce a drive load of the corresponding drive motor of the at least one drive wheel while allowing continued delivery of power to the sensor system.

12. The human interface robot of claim 10, wherein the at least one drive command causes the drive system to execute reduced power assisted maneuvers incapable alone of moving the human interface robot, yet providing movement assistance that reduces a user movement resistance of the human interface robot, the reduced power assisted maneuvers propelling the human interface robot with assistance from a user in contact with the human interface robot.

16. The human interface robot of claim 10, wherein the controller is configured to, after cessation of receipt of the touch signal for a threshold period of time, issue a stop drive command to the drive system that causes the drive system to cease maneuvering of the human interface robot.

17. The human interface robot of claim 10, wherein the sensor system further comprises at least one of a motion sensor, a contact sensor, a capacitive sensor, an actuatable button, a switch, an inertial measurement unit, an odometer, a global positioning system, a laser scanner, a sonar proximity sensor, or a three-dimensional image sensor.

18. The human interface robot of claim 10, wherein the sensor system comprises a touch response input positioned between about 3 feet and about 5 feet above the floor surface.

13. A human interface robot comprising:

a robot body defining a forward drive direction;

a drive system supported by the robot body and configured to maneuver the human interface robot across a floor surface;

a sensor system disposed on the robot body and responsive to human interaction; and

a controller in communication with the drive system and the sensor system, the controller configured to issue at least one drive command to the drive system in response to a touch signal received from the sensor system, the touch signal indicative of human contact with the robot body and indicating a contact force direction with respect to the forward drive direction, the at least one drive command causing the drive system to maneuver the human interface robot along a commanded drive direction corresponding to the contact force direction,

wherein the controller is configured to, in response to receiving the touch signal;

enable a touch teleoperation behavior executing on the controller, the touch teleoperation behavior causing the issuance of the at least one drive command that causes the drive system to maneuver the human interface robot along the drive direction corresponding to the contact force direction; and

disable an obstacle detection and obstacle avoidance behavior executing on the controller while the touch teleoperation behavior is enabled, the obstacle detection and obstacle avoidance behavior configured to cause issuance of avoidance drive commands to the drive system that cause the drive system to maneuver the human interface robot to avoid contact with an object detected by the sensor system.

14. The human interface robot of claim 13, wherein the controller is configured to enable the touch teleoperation behavior after receiving satisfaction of an enabling criterion.

15. The human interface robot of claim 13, wherein the controller is configured to enable the touch teleoperation behavior after receiving the touch signal for an enabling threshold period of time and disable the touch teleoperation behavior after cessation of receipt of the touch signal for a disabling threshold period of time.