Robots linkable to perform tasks in coordinated teams

Patent metadata

Field	Value
Publication number	US-10646993-B1
Application number	US-201715660496-A
Country	US
Kind code	B1
Filing date	Jul 26, 2017
Priority date	Jul 26, 2017
Publication date	May 12, 2020
Grant date	May 12, 2020

Abstract

A robot may include (1) a body having a pivot member, (2) a mobility subsystem, coupled to the body of the robot, that provides omnidirectional displacement of the robot along a plane, (3) a robotic arm, coupled to the body of the robot, for manipulating an object, and (4) a linking extension. The linking extension may include (1) a proximal end that is rotatably coupled to the pivot member of the body of the robot, and (2) a distal end that is dimensioned to rotatably couple to a coupling member of an assistant robot such that the linking extension links the robot and the assistant robot. The robot may also include a control subsystem, communicatively coupled to the mobility subsystem, that coordinates displacement of the robot by the mobility subsystem with displacement of the assistant robot. Various other apparatuses, systems, and methods are also disclosed.

First claim

What is claimed is:

1. A robot-team system comprising:
a primary robot comprising:
a body comprising a pivot member;
a primary mobility subsystem, coupled to the body of the robot, that provides omnidirectional displacement of the robot along a plane, wherein the mobility subsystem comprises a plurality of omnidirectional wheels and each wheel in the plurality of omnidirectional wheels comprises a plurality of angled rollers dimensioned to contact a surface during use;
a robotic arm, coupled to the body of the robot, for manipulating an object; and
a linking extension comprising:
a proximal end that is rotatably coupled to the pivot member of the body of the robot; and
a distal end that is dimensioned to rotatably couple to a coupling member of an assistant robot such that the linking extension links the robot and the assistant robot;

a control subsystem, communicatively coupled to the mobility subsystem, that coordinates displacement of the robot by the mobility subsystem with displacement of the assistant robot; and
the assistant robot, wherein the assistant robot comprises an assistant mobility subsystem, coupled to the body of the assistant robot, that provides omnidirectional displacement of the assistant robot along the plane.

2. The robot-team system of claim 1 , wherein the control subsystem further coordinates movement of the robotic arm of the robot relative to the body of the robot with movement of a robotic arm of the assistant robot.

3. The robot-team system of claim 2 , wherein the robotic arm of the robot is movable relative to the body of the robot in a direction that is not parallel to the plane.

4. The robot-team system of claim 2 , wherein movement of the robotic arm of the robot relative to the body of the robot is constrained in a direction that is parallel to the plane.

5. The robot-team system of claim 2 , wherein:
the mobility subsystem displaces the robot along the surface; and
the robotic arm of the robot is movable toward and away from the surface.

6. The robot-team system of claim 1 , wherein the robotic arm of the robot comprises:
a main arm segment coupled to the body of the robot; and
an extending arm segment coupled to the main arm segment such that the extending arm segment is movable relative to the main arm segment.

7. The robot-team system of claim 6 , wherein:
the extending arm segment is rotatable relative to the main arm segment about a rotational axis; and
movement of the extending arm segment along the rotational axis relative to the body of the robot is constrained.

8. The robot-team system of claim 1 , wherein the linking extension of the robot is rotatable about the pivot member of the body of the robot in a direction parallel to the plane.

9. The robot-team system of claim 1 , wherein the linking extension of the robot further comprises a movable locking member that releasably secures the distal end of the linking extension to the coupling member of the assistant robot.

10. The robot-team system of claim 1 , further comprising a sensor that detects at least one of the object or the assistant robot.

11. A system comprising:
a primary robot comprising:
a body comprising a pivot member;
a mobility subsystem, coupled to the body of the primary robot, that provides omnidirectional displacement of the primary robot along a plane, wherein the mobility subsystem comprises a plurality of omnidirectional wheels and each wheel in the plurality of omnidirectional wheels comprises a plurality of angled rollers dimensioned to contact a surface during use;
a robotic arm, coupled to the body of the primary robot, for manipulating an object; and
a linking extension comprising:
a proximal end that is rotatably coupled to the pivot member of the body of the primary robot; and
a distal end; and

a control subsystem communicatively coupled to the mobility subsystem of the primary robot; and

an assistant robot comprising:
a body comprising a coupling member;
a mobility subsystem, coupled to the body of the assistant robot, that provides omnidirectional displacement of the assistant robot along the plane;
a robotic arm, coupled to the body of the assistant robot, for manipulating the object; and
a control subsystem communicatively coupled to the mobility subsystem of the assistant robot;

wherein:
the distal end of the linking extension of the primary robot is dimensioned to rotatably couple to the coupling member of the assistant robot such that the linking extension links the primary robot and the assistant robot; and
the control subsystem of the primary robot and the control subsystem of the assistant robot coordinate displacement of the primary robot by the mobility subsystem of the primary robot with displacement of the assistant robot by the mobility subsystem of the assistant robot.

12. The system of claim 11 , wherein at least one of the control subsystem of the primary robot or the control subsystem of the assistant robot displaces at least one of the primary robot or the assistant robot to hold the object between the robotic arm of the primary robot and the robotic arm of the assistant robot, when the primary robot is coupled to the assistant robot by the linking extension, by at least one of:
controlling, by the control subsystem of the primary robot, the mobility subsystem of the primary robot to rotate the body of the primary robot relative to the linking extension to move the robotic arm of the primary robot toward the robotic arm of the assistant robot; or
controlling, by the control subsystem of the assistant robot, the mobility subsystem of the assistant robot to rotate the body of the assistant robot relative to the linking extension to move the robotic arm of the assistant robot toward the robotic arm of the primary robot.

13. The system of claim 12 , wherein the control subsystem of the primary robot and the control subsystem of the assistant robot further coordinate movement of the robotic arm of the primary robot with movement of the robotic arm of the assistant robot to raise or lower the object held between the robotic arm of the primary robot and the robotic arm of the assistant robot.

14. The system of claim 11 , wherein at least one of the control subsystem of the primary robot or the control subsystem of the assistant robot displaces at least one of the primary robot or the assistant robot to couple the distal end of the linking extension to the coupling member of the assistant robot by at least one of:
controlling, by the control subsystem of the primary robot, the mobility subsystem of the primary robot to displace the primary robot relative to the assistant robot; or
controlling, by the control subsystem of the assistant robot, the mobility subsystem of the assistant robot to displace the assistant robot relative to the primary robot.

15. The system of claim 11 , further comprising an external computing device that is external to the primary robot and the assistant robot and that is communicatively coupled to at least one of a communication subsystem of the primary robot or a communication subsystem of the assistant robot, wherein the control subsystem of the primary robot and the control subsystem of the assistant robot coordinate the displacement of the primary robot with the displacement of the assistant robot based on data received from the external computing device via at the least one of the communication subsystem of the primary robot or the communication subsystem of the assistant robot.

16. The system of claim 11 , wherein:
a communication subsystem of the primary robot is communicative

Assignees

• Facebook Inc

Inventors

• Wiley Scott C

Classifications

• B25J9/00

  Program-controlled manipulators · CPC title

• B25J9/042 Primary

  comprising an articulated arm · CPC title

• B25J5/007 Primary

  mounted on wheels · CPC title

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title