Interactive detection of obstacle status in mobile robots

Patent metadata

Field	Value
Publication number	US-12566451-B2
Application number	US-202217970366-A
Country	US
Kind code	B2
Filing date	Oct 20, 2022
Priority date	Oct 20, 2022
Publication date	Mar 3, 2026
Grant date	Mar 3, 2026

Abstract

A method includes: at a mobile robot, travelling according to a current path; using a sensor of the mobile robot, capturing sensor data representing a vicinity of the mobile robot; detecting, based on the sensor data, an obstacle obstructing the current path; in response to detecting the obstacle, outputting a request for a status change corresponding to the obstacle; receiving at the mobile robot, in response to the request for a status change, data defining an updated status of the obstacle; selecting, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and executing the selected navigational action.

First claim

The invention claimed is:

1 . A method comprising:
capturing sensor data representing a vicinity of a mobile robot; detecting, based on the sensor data, an obstacle obstructing a current path of the mobile robot; in response to detecting the obstacle, outputting a request for a status change corresponding to the obstacle, the request including selectable responses to the request indicating an expected status of the obstacle and a default timeout period for selecting one of the responses after which a new path circumventing the obstacle will be generated; receiving, in response to the request for the status change, data defining an updated status of the obstacle; selecting, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and executing the selected navigational action.

2 . The method of claim 1 , wherein the data defining the updated status of the obstacle includes one of (i) an indication that the obstacle is expected to continue obstructing the current path, and (ii) an indication that the obstacle is expected to vacate the current path.

3 . The method of claim 2 , wherein selecting the navigational action includes:
selecting continuing to travel according to the current path when the updated status data includes the indication that the obstacle is expected to vacate the current path; and selecting generating a new path circumventing the obstacle when the updated status data includes the indication that the obstacle is expected to continue obstructing the current path.

4 . The method of claim 1 , wherein executing continued travel according to the current path includes determining whether the obstacle has vacated the current path within a second timeout period.

5 . The method of claim 4 , wherein executing continued travel according to the current path includes generating the timeout period by extending the default timeout period.

6 . The method of claim 1 , wherein executing the generation of the new path circumventing the obstacle includes bypassing the default timeout period and generating the new path.

7 . The method of claim 1 , wherein detecting the obstacle includes:
determining that a location of a previously detected obstacle is outside field of view of the sensor; and wherein the request for the status change includes a request for data indicating that the previously detected obstacle is (i) present at the location, or (ii) absent from the location.

8 . The method of claim 7 , further comprising, prior to generating the new path circumventing the obstacle:
when the updated status data indicates that the detected obstacle is present at the location, generating a second request for an assisting entity to push the mobile robot.

9 . The method of claim 1 , wherein the request for the status change includes a request for an assisting entity to move the obstacle out of the current path.

10 . The method of claim 1 , wherein detecting the obstacle includes determining that the obstacle is self-propelled; and
wherein the request for the status change includes a request directed to the obstacle to move out of the current path.

11 . The method of claim 10 , wherein detecting the obstacle includes determining that the obstacle is one of (i) a human, and (ii) another mobile robot.

12 . The method of claim 1 , wherein outputting the request includes rendering the request on a display of the mobile robot.

13 . The method of claim 1 , wherein the request includes a graphical indication of a location of the obstacle.

14 . A mobile robot, comprising:
a locomotive assembly; an output device; and a processor configured to:
control the locomotive assembly to travel according to a current path;
capture sensor data representing a vicinity of the mobile robot;
detect, based on the sensor data, an obstacle obstructing the current path;
in response to detecting the obstacle, control the output device to present a request for a status change corresponding to the obstacle, the request including selectable responses to the request indicating an expected status of the obstacle and a default timeout period for selecting one of the responses after which a new path circumventing the obstacle will be generated;
receive, in response to the request for the status change, data defining an updated status of the obstacle;
select, based on the updated status data, a navigational action between (i) continuing to travel according to the current path and (ii) generating a new path circumventing the obstacle; and
execute the selected navigational action.

15 . The mobile robot of claim 14 , wherein the data defining the updated status of the obstacle includes one of (i) an indication that the obstacle is expected to continue obstructing the current path, and (ii) an indication that the obstacle is expected to vacate the current path.

16 . The mobile robot of claim 15 , wherein the processor is configured to select the navigational action by:
selecting continuing to travel according to the current path when the updated status data includes the indication that the obstacle is expected to vacate the current path; and selecting generating a new path circumventing the obstacle when the updated status data includes the indication that the obstacle is expected to continue obstructing the current path.

17 . The mobile robot of claim 14 , wherein the processor is configured to execute continued travel according to the current path by determining whether the obstacle has vacated the current path within a second timeout period.

18 . The mobile robot of claim 17 , wherein the processor is configured to execute continued travel according to the current path by generating the second timeout period by extending the default timeout period.

19 . The mobile robot of claim 14 , wherein the processor is configured to execute the generation of the new path circumventing the obstacle by bypassing the default timeout period and generating the new path.

20 . The mobile robot of claim 14 , wherein the processor is configured to detect the obstacle by:
determining that a location of a previously detected obstacle is outside of a field of view of the sensor; and wherein the request for the status change includes a request for data indicating that the previously detected obstacle is (i) present at the location, or (ii) absent from the location.

21 . The mobile robot of claim 20 , wherein the processor is further configured, prior to generating a new path circumventing the obstacle, to:
when the updated status data indicates that the detected obstacle is present at the location, generate a second request for an assisting entity to push the mobile robot.

22 . The mobile robot of claim 14 , wherein the request for the status change includes a request for an assisting entity to move the obstacle out of the current path.

23 . The mobile robot of claim 14 , wherein the processor is configured to detect the obstacle by determining that the obstacle is self-propelled; and
wherein the request for the status change includes a request directed to the obstacle to move out of the current path.

24 . The mobile robot of claim 23 , wherein the processor is configured to detect the obstacle by determining that the obstacle is one of (i) a human, and (ii) another mobile robot.

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Assignees

• Zebra Tech Corp

Inventors

• Wise Melonee
• Hoy Aaron
• King Derek
• Angeli Micaela
• Shah Chinmay

Classifications

• G05D1/622 Primary

  Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W30/08) · CPC title

• G01C21/20 Primary

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title