Visual-assist robots

Patent metadata

Field	Value
Publication number	US-9530058-B2
Application number	US-201414567062-A
Country	US
Kind code	B2
Filing date	Dec 11, 2014
Priority date	Dec 11, 2014
Publication date	Dec 27, 2016
Grant date	Dec 27, 2016

Abstract

In one embodiment, a visual-assist robot includes a housing defining a base portion, an imaging assembly, a motorized wheel assembly positioned at the lower surface of the base portion, a processor disposed within the housing and communicatively coupled to the imaging assembly and the motorized wheel assembly, and a non-transitory memory device disposed within the housing. The imaging assembly generates image data corresponding to an environment, and at least a portion of the imaging assembly is configured to be disposed above the upper surface of the base portion. The non-transitory memory device stores machine-readable instructions that cause the processor to provide a drive signal to the motorized wheel assembly such that the motorized wheel assembly moves the visual-assist robot to a desired location within the environment, determine objects from the image data received from the imaging assembly, and transmit message data for receipt by a user.

First claim

What is claimed is:

1. A visual-assist robot comprising:
a housing defining a base portion, the base portion comprising an upper surface and a lower surface;
an imaging assembly, wherein the imaging assembly is configured to generate image data corresponding to an environment, and at least a portion of the imaging assembly is configured to be disposed above the upper surface of the base portion;
a motorized wheel assembly positioned at the lower surface of the base portion;
a processor disposed within the housing and communicatively coupled to the imaging assembly and the motorized wheel assembly; and
a non-transitory memory device disposed within the housing, the non-transitory memory device storing machine-readable instructions that, when executed by the processor, cause the processor to:
receive a user command to provide information about the environment;
provide a drive signal to the motorized wheel assembly such that the motorized wheel assembly moves the visual-assist robot to a desired location within the environment;
detect objects from image data received from the imaging assembly;
determine information from the image data relevant to the received user command about one or more objects of the objects detected, wherein the information relevant to the received user command includes a classification of each of the one or more objects; and
transmit message data for receipt by a user, wherein the message data provides an indication as to a presence of the one or more objects classified from the image data.

2. The visual-assist robot as claimed in claim 1 , further comprising a speaker, wherein the message data is configured as an audio signal emitted by the speaker.

3. The visual-assist robot as claimed in claim 1 , further comprising a wireless communication module configured to wirelessly communicate information with a portable electronic device, wherein the wireless communication module is communicatively coupled to the processor, and the machine-readable instructions further cause the processor to provide the message data to the wireless communication module for wireless transmission to the portable electronic device.

4. The visual-assist robot as claimed in claim 3 , wherein the message data is configured as a wireless signal comprising an audio message for playback by a speaker of the portable electronic device.

5. The visual-assist robot as claimed in claim 1 , wherein:
the drive signal is provided in accordance with the user command and controls the motorized wheel assembly such that the visual-assist robot autonomously navigates to the desired location within the environment; and
the machine-readable instructions further cause the processor to provide a second drive signal to the motorized wheel assembly such that the motorized wheel assembly moves the visual-assist robot to the user and leads the user to one of the one or more objects classified from the image data.

6. The visual-assist robot as claimed in claim 1 , further comprising a location sensor communicatively coupled to the processor, wherein the location sensor is configured to provide location data to the processor based on a physical location of the visual-assist robot.

7. The visual-assist robot as claimed in claim 6 , wherein the location sensor comprises a wireless signal sensor operable to wirelessly communicate with wireless signal emitters present within the environment.

8. The visual-assist robot as claimed in claim 1 , wherein the non-transitory memory stores topographical map information, and the machine-readable instructions further cause the processor to:
access the topographical map information to retrieve topographical information corresponding to a location of the visual-assist robot within the environment; and
generate the message data based at least in part on the topographical information corresponding to the location of the visual-assist robot within the environment.

9. The visual-assist robot as claimed in claim 1 , wherein the machine-readable instructions further cause the processor to extract text from the image data, and the message data provides information corresponding to the text extracted from the image data.

10. The visual-assist robot as claimed in claim 1 , wherein the imaging assembly is configured such that the image data comprises one or more omni-directional images.

11. The visual-assist robot as claimed in claim 1 , further comprising a retractable pedestal coupled to the imaging assembly, wherein:
when the retractable pedestal is in an extended position, the imaging assembly is disposed above the upper surface of the base portion; and
when the retractable pedestal is in a retracted position, the imaging assembly is at least partially disposed within the base portion.

12. The visual-assist robot as claimed in claim 11 , wherein the imaging assembly comprises an imaging assembly housing that is removably coupled to the retractable pedestal.

13. The visual-assist robot as claimed in claim 11 , wherein the imaging assembly comprises:
an imaging assembly housing;
an omni-directional mirror within the imaging assembly housing; and
a camera optically coupled to the omni-directional mirror.

14. The visual-assist robot as claimed in claim 13 , wherein the camera is disposed within the base portion and the omni-directional mirror is disposed above the upper surface of the base portion when the retractable pedestal is in an extended position.

15. The visual-assist robot as claimed in claim 11 , wherein the imaging assembly comprises an imaging assembly housing and an omni-directional camera within the imaging assembly housing.

16. The visual-assist robot as claimed in claim 1 , further comprising a retractable handle assembly comprising a handle and a cord, wherein the upper surface of the base portion comprises a storage recess such that the handle and the cord are disposed within the storage recess when the retractable handle assembly is in a retracted position.

17. The visual-assist robot as claimed in claim 1 , further comprising at least one carrying strap within the lower surface of the base portion, wherein the at least one carrying strap is configured to a disposed around a portion of the user when in an extended position, and the at least one carrying strap is at least partially disposed within the base portion when in a retracted position.

18. A visual-assist robot comprising:
a housing defining a base portion, the base portion comprising an upper surface and a lower surface;
an imaging assembly, wherein the imaging assembly is configured to generate image data corresponding to an environment, and at least a portion of the imaging assembly is configured to be disposed above the upper surface of the base portion;
a retractable pedestal comprising a plurality of segments configured to extend from the upper surface of the base portion, wherein the imaging assembly is coupled to the retractable pedestal such that:
when the retractable pedestal is in an extended position, the imaging assembly is disposed above the upper surface of the base portion; and
when the retractable pedestal is in a retracted position, the plurality of segments is positioned in a nested arrangement and the imaging assembly is at least partially disposed within the base portion;

a motorized wheel assembly positioned at the lower surface of the base portion;
a wireless communication module configured to wirelessly communicate information with a portable electronic device;
a processor disposed within the housing and communicatively coupled to the ima

Assignees

• Toyota Motor Eng & Mfg North America Inc

Inventors

• Moore Douglas A
• Djugash Joseph M A
• Ota Yasuhiro
• Sano Shin
• Rosenbach Sarah
• Hiruta Sho
• Hoven Maura

Classifications

• A61F9/08 Primary

  Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception · CPC title

• G06V20/20

  in augmented reality scenes · CPC title

• B25J11/008

  Manipulators for service tasks · CPC title

• G06K9/00201

  Physics · mapped topic

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title