Autonomous mobile platform for service applications

• US 9,557,740 B2
• Filed: 03/28/2014
• Issued: 01/31/2017
• Est. Priority Date: 07/02/2013
• Status: Active Grant

• Current Assignee: Ubiquity Robotics, Inc.
• Original Assignee: David Crawley
• Inventors: Crawley, David
• Primary Examiner(s): Carrasquillo, Jorge L
• Application Number:
  US13/999,863
• Publication Number:
  US 20150012163A1
• Time in Patent Office: 1,040 Days
• Field of Search: 318/568.11, 318/568.12, 318/568.2
• US Class Current: 1/1
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B67D 2210/00136 vehicle carried
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S

Abstract

The invention disclosed with this Application is a autonomous mobile system comprising: a means of achieving mobility, a means of navigating, a means of providing autonomous power, and a means of providing general purpose computing.

In some embodiments, the system comprises a base unit capable of sensing its environment and computing navigation instructions to direct the system to move to particular locations and execute particular functions, as directed by a set of programmed instructions.

In some embodiments, a coupling exists on the base unit to attach additional structures and mechanisms. These structures may comprise a means for carrying packages or other items, robotic manipulators that can grab and move objects, interactive audio and video displays for telepresence applications, a means for serving food and drink, etc. These extensions may be designed to be detachable and interchangeable, or may be designed to be permanently attached to the base unit.

Claims

1. A robotic system comprising:

a power source;

a means to move through a designated environment having a ceiling upon which reference patterns are placed;

an attached computing device;

a navigation system to direct the motion of the apparatus through the designated environment; and

a means for coupling a first additional accessory comprising a connector for providing power from the power source to the first additional accessory;

said navigation system comprising;

an imaging camera aimed towards the ceiling to detect reference patterns distributed throughout the designated environment, and

an image processing system to match images of said reference patterns to a pre-stored electronic map;

and in which

a second additional accessory that transmits audio and video signals has been coupled to the apparatus,

said second additional accessory further comprising

a means to display audio and video transmissions originating from a remote location.

2. The system of claim 1, additionally comprising

a structure for delivering at least one item.

3. The system of claim 2, in which

the item is a container.

4. The system of claim 3, in which

the container is a cup.

5. The system of claim 2, in which

the item is a measured quantity of a soft drink.

6. The system of claim 2 in which

the item is a measured quantity of a mixed drink.

7. The system of claim 2, further comprising

a means for delivering a marketing message.

8. The system of claim 7, in which

the means for delivering a marketing message is a display attached to the structure.

9. The system of claim 8, in which

the means for delivering a marketing message also comprises a video display.

10. The system of claim 1, in which

the means for coupling comprises at least one item selected from the group consisting of:

clamps, bolts, screws, and pegs.

11. The system of claim 1, in which

the means for coupling comprises at least one set of holes in a configuration that corresponds to a first accessory with a set of attachment devices.

12. The system of claim 11, in which

the attachment devices are selected from the group consisting of:

clamps, bolts, screws, and pegs.

13. The system of claim 1, in which

the first additional accessory is a structure for carrying packages.

14. The system of claim 1, in which

the first additional accessory comprises

at least one robotic manipulator.

15. The system of claim 1, further comprising

a means to communicate with a wireless communication network.

16. The system of claim 1, in which

the power source provides the motive force for moving through the designated environment.

17. The system of claim 1, in which

the power source comprises a battery selected from the group consisting of:

a lead acid battery, a deep cycle lead acid battery, a sealed lead acid battery, an AGM lead acid battery, a gel lead acid battery, a nickel-cadmium battery, a nickel-metal-hydride battery, a lithium battery, a silicon-mediated lithium battery, a lithium ion battery, and an alkaline battery.

18. The system of claim 1, in which

the power source comprises a common power conversion system selected from the group consisting of consisting of:

a fuel cell, a hydrogen fuel cell, a hydrocarbon powered heat engine, a microwave transmission energy power source, an inductive energy source, a flywheel, a flywheel energy storage system, and a Carnot engine.

19. The system of claim 1, in which

the computing device comprises at least one microprocessor.

20. The system of claim 1, in which

the computing device directs the activity of the means to move through a designated environment.

21. The system of claim 1, in which

the navigation system utilizes the attached computing device.

22. The system of claim 1, in which the means to move through a designated environment comprises wheels.

23. The system of claim 22, in which at least one of the wheels comprises a brushless DC hub motor.

24. The system of claim 1, in which the navigation system comprises at least one LIDAR system.

25. The system of claim 1, in which the first additional accessory comprises a means to deliver consumables.

26. The system of claim 25, in which the consumables are soft drinks.

28. The system of claim 1, additionally comprising:

a connector for communicating data between the robotic system and the first additional accessory.

27. A robotic apparatus comprising:

a power source;

a means to move through a designated environment having a ceiling upon which reference patterns are placed;

an attached computing device;

a navigation system to direct the motion of the apparatus through the designated environment;

a means for coupling a first additional accessory comprising a connector for providing power from the power source to the first additional accessory; and

additionally comprising a computer readable medium, upon which are stored instructions that direct the activities of the robot in a pre-determined sequence;

said navigation system comprising;

an imaging camera aimed towards the ceiling to detect reference patterns distributed throughout the designated environment, and

an image processing system to match images of said reference patterns to a pre-stored electronic map;

and in which

a second additional accessory that transmits audio and video signals has been coupled to the apparatus,

said additional accessory further comprising

a means to display audio and video transmissions originating from a remote location.

29. The system of claim 27, additionally comprising:

a connector for communicating data between the robotic system and the first additional accessory.