Autonomous mobile robot for handling job assignments in a physical environment inhabited by stationary and non-stationary obstacles

• US 9,592,609 B2
• Filed: 01/25/2013
• Issued: 03/14/2017
• Est. Priority Date: 01/25/2012
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Adept Technologies, Inc. (Omron Corporation)
• Inventors: LaFary, Matthew, Vestal, Matthew, Paul, George V.
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/370,372
• Publication Number:
  US 20140350725A1
• Time in Patent Office: 1,509 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/39082 Collision, real time collision avoidance
• CPC Class Codes: G05B 2219/40202 Human robot coexistence
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/50 Miscellaneous

Abstract

An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.

Claims

1. A mobile robot for handling a job assignment in a physical environment inhabited by stationary and non-stationary obstacles, the mobile robot comprising:

a) a robot base, comprising

(i) a map defining a floor plan for the physical environment, a set of job locations in respect to the floor plan, and associating a set of job operations with two or more job locations in the set of job locations;

(ii) a robot base controller that receives the job assignment, the job assignment including a specified job location without specifying a job operation, the specified job location being associated by the map with said set of job operations; and

(iii) an onboard navigation system;

b) wherein, in response to receiving the job assignment, the onboard navigation system automatically

(i) determines a floor plan location based on the job assignment and the map, the floor plan location representing an actual location in the physical environment,

(ii) determines, in accordance with the map, that moving the mobile robot from the mobile robot'"'"'s current position to the floor plan location by driving the mobile robot along a first path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles in the physical environment,

(iii) generates a second path from the mobile robot'"'"'s current position to the floor plan location, in accordance with the map, to avoid said contact, and

(iv) drives the mobile robot to the actual location represented by the floor plan location using the second path; and

c) the robot base controller causes the mobile robot to automatically perform said set of job operations associated in the map with the specified job location after the mobile robot arrives at the actual location;

d) wherein the set of job operations associated with the specified job location in the map is different from the set of one or more job operations associated with another job location in the map.

2. The mobile robot of claim 1, wherein the onboard navigation system automatically:

a) determines that driving the mobile robot along said second path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles;

b) generates a third path from the mobile robot'"'"'s current position to the floor plan location, in accordance with the map, to avoid said contact; and

c) drives the mobile robot to the actual location represented by the floor plan location using the third path.

3. The mobile robot of claim 1, wherein the onboard navigation system automatically determines the first path in accordance with the map.

4. The mobile robot of claim 1, wherein:

a) the robot base comprises a wireless communications interface; and

b) said first path is received by the mobile robot from a remote source via the wireless communications interface.

5. The mobile robot of claim 1, wherein:

a) the robot base further comprises a sensor configured to provide the onboard navigation system with sensor readings corresponding to a current position of one of the stationary and non-stationary obstacles; and

b) the onboard navigation system uses the sensor readings to determine that driving the mobile robot to the floor plan location along said first path will cause the mobile robot to come into contact with said one of the stationary and non-stationary obstacles.

6. The mobile robot of claim 1, wherein:

a) the map provides the current positions of said non-stationary obstacles; and

b) the onboard navigation system uses said current positions to determine that driving the mobile robot to the floor plan location along said first path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles.

7. The mobile robot of claim 6, wherein said robot base periodically receives updated information for the map, said updated information accounting for changes in the current positions for said non-stationary obstacles.

8. The mobile robot of claim 1, wherein:

a) the map provides a set of currently-selected paths for said non-stationary obstacles; and

b) the onboard navigation system uses said set of currently-selected paths to determine that driving the mobile robot to the floor plan location along said first path will cause the mobile robot to come into contact with one of said non-stationary obstacles.

9. The mobile robot of claim 8, wherein said robot base periodically receives updated information for the map, said updated information accounting for changes in the set of currently-selected paths for said non-stationary obstacles.

10. The mobile robot of claim 1, wherein said non-stationary obstacles include one or more of:

another mobile robot, a human being, a motorized vehicle and a non-motorized vehicle.

11. The mobile robot of claim 1, wherein said stationary obstacles include one or more of:

a wall, a door, a door frame, a piece of furniture, a workstation, a manufacturing tool, a break in the travelling surface for the mobile robot, an object suspended above said travelling surface, a restricted zone in the physical environment, a contaminated zone in the physical environment and a dangerous zone in the physical environment.

12. The mobile robot of claim 1, wherein:

a) the robot base comprises a wireless communications interface; and

b) the robot base controller receives the job assignment via the wireless communications interface.

13. The mobile robot of claim 12, wherein the wireless communication interface receives the job assignment from a remote job management system.

14. The mobile robot of claim 12, wherein the wireless communication interface receives the job assignment from a remote personal computer system.

15. The mobile robot of claim 12, wherein the wireless communication interface receives the job assignment from a second mobile robot in the physical environment.

16. The mobile robot of claim 1, wherein:

a) the robot base comprises a human-machine interface; and

b) the robot base controller receives the job assignment from a human being via the human-machine interface.

17. The mobile robot of claim 16, wherein the human-machine interface comprises one or more of a display device, a monitor, a keyboard, a keypad, a touch screen, a scanner, a telephone, a printer, a button, a speaker, a switch, a camera and a light.

18. The mobile robot of claim 1, further comprising:

a) a robot payload, connected the robot base;

b) wherein the robot base controller generates a command signal that causes the robot payload to automatically perform said at least one associated job operation after the mobile robot arrives at the floor plan location.

19. The mobile robot of claim 18, wherein the robot payload comprises an actuator.

20. The mobile robot of claim 19, wherein the actuator comprises one or more of an articulated robotic arm, an electromechanical manipulator, a portable robot, an electric motor, a panning unit, a tilting unit, a conveyor, a mechanical lifting device, a mechanical gripping device, a pump, a sprayer, a vacuum device, a laser, a sampler and a linear actuator.

21. The mobile robot of claim 18, wherein the robot payload includes a sensor.

22. The mobile robot of claim 21, wherein the sensor comprises one or more of a video recorder, a sound recorder, a photographic image recorder, an RFID reader, a magnetic stripe reader, a barcode reader, a gas detector, a particle detector, a temperature sensor, a scanner, a distance sensor, a near-field communication sensor and a wireless signal detector.

23. The mobile robot of claim 18, further comprising a human-machine interface attached to the robot payload.

24. The mobile robot of claim 23, wherein the human-machine interface attached to the robot payload comprises one or more of a display device, a monitor, a keyboard, a keypad, a scanner, a telephone, a printer, a button, a speaker, a camera, a switch and a light.

25. The mobile robot of claim 18, wherein the robot payload comprises:

a) a cargo hold; and

b) a sensor configured to detect whether an object is located within the cargo hold.

26. The mobile robot of claim 18, wherein:

a) the robot payload comprises a cargo hold and a mechanical arm; and

b) a job execution signal generated by the robot base controller causes the mechanical arm to pick up an object and move said object into the cargo hold.

27. The mobile robot of claim 18, wherein:

a) the robot payload comprises a cargo hold and a mechanical arm; and

b) a job execution signal generated by the robot base controller causes the mechanical arm to remove an object from the cargo hold.

28. The mobile robot of claim 1, wherein:

a) the robot base controller comprises a status manager configured to record a current status for the mobile robot; and

b) the current status is transmitted to a remote job management system.

29. The mobile robot of claim 18, wherein:

a) the robot base comprises a wireless communications interface;

b) the robot base controller comprises a status manager configured to record a current status for the mobile robot; and

c) the current status is communicated to another mobile robot in the physical environment via the wireless communications interface.

30. The autonomous mobile robot of claim 1, wherein the onboard navigation system further comprises a locomotion system.

31. In a physical environment inhabited by stationary and non-stationary obstacles, a method of handling a job assignment with a mobile robot comprising a robot base and an onboard navigation system, the method comprising:

a) storing on the robot base a map defining a floor plan corresponding to the physical environment, a set of job locations in respect to the floor plan, and associating a set of job operations with two or more job locations in the set of job locations;

b) receiving the job assignment on the robot base, the job assignment including a specified job location without specifying a job operation, the specified job location being associated by the map with said set of job operations; and

c) in response to receiving the job assignment, activating the onboard navigation system to automatically

(i) determining a floor plan location based on the specified job location and the map, the floor plan location corresponding to an actual location in the physical environment;

(ii) determining, in accordance with the map, that moving the mobile robot from the mobile robot'"'"'s current position to the floor plan location by driving the mobile robot along a first path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles in the physical environment;

(iii) generating a second path from the mobile robot'"'"'s current position to the floor plan location, in accordance with the map, to avoid said contact; and

(iv) driving the mobile robot to the actual location represented by the floor plan location using the second path; and

d) causing the mobile robot to automatically perform said set of job operations associated in the map with the specified job location after the mobile robot arrives at the actual job location;

e) wherein the set of job operations associated with the specified job location in the map is different from the set of one or more job operations associated with another job location in the map.

32. The method of claim 31, further comprising:

a) determining that driving the mobile robot along said second path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles;

b) generating a third path from the mobile robot'"'"'s current position to the floor plan location, in accordance with the map, to avoid said contact; and

c) driving the mobile robot to the actual location represented by the floor plan location using the third path.

33. The method of claim 31, further comprising determining said first path on the onboard navigation system in accordance with the map.

34. The method of claim 31, further comprising receiving said first path on the mobile robot from a remote source via a wireless communications interface on the robot base.

35. The method of claim 31, further comprising:

a) receiving sensor readings on the onboard navigation system, the sensor readings corresponding to a current position of one of the stationary and non-stationary obstacles; and

b) using the sensor readings on the onboard navigation system to determine that driving the mobile robot to the floor plan location along said first path will cause the mobile robot to come into contact with said one of the stationary and non-stationary obstacles.

36. The method of claim 31, further comprising:

a) storing in the map a description of the current positions of said non-stationary obstacles; and

b) on the onboard navigation system, using said description in the map to determine that driving the mobile robot to the specified job location along said first path will cause the mobile robot to come into contact with one of said stationary and non-stationary obstacles.

37. The method of claim 36, further comprising periodically receiving on the robot base an updated description for the map, said updated description accounting for changes in the current positions for said non-stationary obstacles.

38. The method of claim 31, further comprising:

a) storing in the map a set of currently-selected paths for said non-stationary obstacles; and

b) on the onboard navigation system, using said set of currently-selected paths to determine that driving the mobile robot to the floor plan location along said first path will cause the mobile robot to come into contact with one of said non-stationary obstacles.

39. The method of claim 38, further comprising periodically receiving updated information for the map, said updated information accounting for changes in the set of currently-selected paths for said non-stationary obstacles.

40. The method of claim 31, wherein said non-stationary obstacles include one or more of:

another mobile robot, a human being, a motorized vehicle and a non-motorized vehicle.

41. The method of claim 31, wherein said stationary obstacles include one or more of:

a wall, a door, a door frame, a piece of furniture, a workstation, a manufacturing tool, a break in the travelling surface for the mobile robot, an object suspended above said travelling surface, a restricted zone in the physical environment, a contaminated zone in the physical environment and a dangerous zone in the physical environment.

42. The method of claim 31, further comprising receiving the job assignment via a wireless communications interface on the robot base.

43. The method of claim 42, further comprising receiving the job assignment from a remote job management system via a wireless communications interface on the robot base.

44. The method of claim 42, further comprising receiving the job assignment from a remote personal computer system via a wireless communication interface on the robot base.

45. The method of claim 42, further comprising receiving the job assignment from a second mobile robot in the physical environment via a wireless communication interface on the robot base.

46. The method of claim 31, further comprising receiving the job assignment from a human being via a human-machine interface attached to the robot base.

47. The method of claim 46, wherein the human-machine interface comprises one or more of a display device, a monitor, a keyboard, a keypad, a touch screen, a scanner, a telephone, a printer, a button, a speaker, a switch, a camera and a light.

48. The method of claim 31, further comprising:

a) connecting a robot payload to the robot base; and

b) generating a command signal by the robot base controller that causes the robot payload to automatically perform said at least one job operation after the mobile robot arrives at the floor plan location.

49. The method of claim 48, wherein the robot payload comprises an actuator.

50. The method of claim 49, wherein the actuator comprises one or more of an articulated robotic arm, an electromechanical manipulator, a portable robot, an electric motor, a panning unit, a tilting unit, a conveyor, a mechanical lifting device, a mechanical gripping device, a pump, a sprayer, a vacuum device, a laser, a sampler and a linear actuator.

51. The method of claim 48, wherein the robot payload includes a sensor.

52. The method of claim 51, wherein the sensor comprises one or more of a video recorder, a sound recorder, a photographic image recorder, an RFID reader, a magnetic stripe reader, a barcode reader, a gas detector, a particle detector, a temperature sensor, a scanner, a distance sensor, a near-field communication sensor and a wireless signal detector.

53. The method of claim 48, further comprising attaching a human-machine interface to the robot payload.

54. The method of claim 53, wherein the human-machine interface attached to the robot payload comprises one or more of a display device, a monitor, a keyboard, a keypad, a scanner, a telephone, a printer, a button, a speaker, a camera, a switch and a light.

55. The method of claim 48, further comprising:

a) placing an object in a cargo hold attached to the robot payload; and

b) using a sensor on the robot payload to detect that the object is located within the cargo hold.

56. The method of claim 48, further comprising activating a mechanical arm attached to the robot payload to place an object into a cargo hold attached to the robot payload.

57. The method of claim 48, further comprising activating a mechanical arm attached to the robot payload to remove an object from a cargo hold attached to the robot payload.

58. The method of claim 31, further comprising:

a) recording a current status for the mobile robot on the robot base; and

b) transmitting the current status to a remote job management system.

59. The method of claim 31, further comprising:

a) recording a current status for the mobile robot on the robot base; and

b) transmitting the current status to another mobile robot in the physical environment via a wireless communications interface on the robot base.

60. The autonomous method of claim 31, wherein the onboard navigation system further comprises a locomotion system.