Controlled interaction between a mobile robot and another entity

• US 9,701,012 B1
• Filed: 10/30/2014
• Issued: 07/11/2017
• Est. Priority Date: 10/30/2014
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Daniel Theobald
• Inventors: Theobald, Daniel
• Primary Examiner(s): Nguyen, Bao Long
• Application Number:
  US14/528,493
• Time in Patent Office: 985 Days
• Field of Search: 700245, 700250, 901 1, 901 27, 901 50, 31856812
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 2219/31014 Synchronization between AGV movement and workpiece treatment chambers
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/27 Arm part

Abstract

Devices, systems and methods are provided related to controlled interaction between a mobile robot and another entity in an operating environment. In one method, for example, performance of a task for a time is signaled for, wherein the performance of the task involves the entity. The mobile robot is operated to interact with the entity at the time.

Claims

1. A method of operating an autonomous mobile robot, comprising:

operating the autonomous mobile robot to move between at least a first location within an environment and a second location within the environment to accomplish at least one task;

operating the autonomous mobile robot to autonomously summon an elevator device via a wireless communication mechanism to move to a particular floor within the environment where the autonomous mobile robot is currently located;

determining when the elevator device will be on the particular floor where the autonomous mobile robot is currently located if not already there;

determining approximately how long the autonomous mobile robot will take to move from its present location to a point on the particular floor where the autonomous mobile robot can access the elevator device; and

scheduling the elevator device to move to timely arrive at the particular floor where the autonomous mobile robot is currently located and move the autonomous mobile robot to another floor so that the autonomous mobile robot may keep moving along its undiverted path without slowing or stopping in accomplishing its task and thereby conserve energy of at least the autonomous mobile robot.

2. A method of operating an autonomous mobile robot, comprising:

operating the autonomous mobile robot to move between at least a first location within an environment and a second location within the environment to accomplish at least one task;

operating the autonomous mobile robot to autonomously signal a door opening device within the environment via a wireless communication mechanism to open a door so that the autonomous mobile robot can move through a doorway in operable communication with the door and the door opening device;

determining approximately how long the autonomous mobile robot will take to move from its present location in the environment to the door; and

opening the door prior to the autonomous mobile robot being at the location of the door so that the autonomous mobile robot moves through the doorway when it reaches the door without having to wait for the door to open in order to conserve power of at least the autonomous mobile robot.