Companion robot for personal interaction

Patent metadata

Field	Value
Publication number	US-9796078-B2
Application number	US-201314044170-A
Country	US
Kind code	B2
Filing date	Oct 2, 2013
Priority date	Sep 30, 2005
Publication date	Oct 24, 2017
Grant date	Oct 24, 2017

Abstract

A mobile robot that includes a robot body, a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface, and a riser having a proximal end and a distal end. The proximal end of the riser disposed on the robot body. The robot also includes a head disposed on the distal end of the riser. The head includes a display and a camera disposed adjacent the display.

First claim

What is claimed is:

1. A mobile robot comprising:
a robot body;
a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface;
a riser having a proximal end and a distal end, the proximal end disposed on the robot body; and
a head disposed on the distal end of the riser, the head comprising:
a display;
a teleconferencing camera disposed adjacent the display; and
a navigation camera separate from the teleconferencing camera; and

a controller in communication with the drive system, the display, the teleconferencing camera, and the navigation camera, the controller configured to command the drive system to navigate the robot to a target location using image data received from the navigation camera and initiate a video teleconferencing session at the target location.

2. The mobile robot of claim 1 , wherein the riser is extendible, having a variable distance between its proximal and distal ends.

3. The mobile robot of claim 2 , wherein the riser comprises pivoted, jointed, folding or telescoping parts to provide the variable distance between its proximal and distal ends.

4. The mobile robot of claim 1 , further comprising at least two wheels supporting the robot body.

5. The mobile robot of claim 1 , wherein the navigation camera is oriented to provide a ground plane view in front of the robot, the controller configured to command the drive system to circumnavigate obstacles detected in front of the robot using image data received from the navigation camera while navigating to the target location.

6. The mobile robot of claim 1 , wherein the navigation camera is orientated to observe ceiling features above the robot.

7. The mobile robot of claim 1 , wherein the display comprises a tablet computer.

8. The mobile robot of claim 7 , wherein the tablet computer is in communication with the drive system.

9. The mobile robot of claim 7 , wherein the tablet computer is releasably attached to the riser and comprises a wireless communications transceiver.

10. The mobile robot of claim 1 , wherein the controller is configured to capture topological adjacency information of different rooms within an operating environment of the robot when the robot travels from room to room, and the controller is configured to command the drive system to navigate the robot to the target location from a present location of the robot using room-to-room navigation based on the topological adjacency information.

11. The mobile robot of claim 1 , wherein the controller is configured to navigate to the target location based on a schedule indicating a time and the target location associated with the video teleconferencing session.

12. The mobile robot of claim 1 , wherein the controller is in communication with a user device executing a user interface configured to display a user map including a set of room identity markers, each room identity marker graphically representing a particular room within an operating environment of the robot, and receive a user selection of one of the room identity markers causes the user device to transmit a navigation command to the controller to navigate the robot to the particular room associated with the one of the room identity markers.

13. The mobile robot of claim 12 , wherein the user interface is configured to display the user map upon the display of the head.

14. The mobile robot of claim 12 , wherein the user interface is configured to display the user map upon a remote display located remotely from the robot.

15. The mobile robot of claim 12 , wherein the room identity markers comprise at least one of icons or text.

16. The mobile robot of claim 12 , wherein the controller is configured to:
receive the navigation command from the user device to navigate the robot to the particular room associated with the selected room identity marker;
command the drive system to navigate the robot to the particular room;
determine whether the robot recognizes the particular room associated with the selected room identity marker using image data received from the navigation camera; and
initiate the video teleconferencing session when the robot recognizes the particular room associated with the one of room identity markers.

17. The mobile robot of claim 12 , wherein the user interface executed on the user device is configured to display a view in front of the robot based on image data received by at least one of the teleconferencing camera or the navigation camera, the user interface permitting a user to select a feature observed in the view in front of the robot to command the robot to move autonomously to the selected feature.

18. The mobile robot of claim 12 , wherein the user interface executed on the user device is configured to display one or more navigation buttons configured to receive a user input, the user input causing the user device to transmit a movement command to the controller to move the robot at a direction and heading based on a navigation button of the one or more navigation buttons receiving the user input.

19. The mobile robot of claim 1 , wherein: the controller is in communication with one or more charging stations located within an operating environment of the robot, each charging station configured to recharge one or more batteries of the robot when the robot docks with a charging station.

20. The mobile robot of claim 19 , wherein the controller is configured to command the drive system to maneuver the robot to dock with any one of the one or more charging stations when the robot is not in use and/or the one or more batteries need charging.

Assignees

• Irobot Corp

Inventors

• Angle Colin
• Vu Clara
• Cross Matthew
• Campbell Tony L

Classifications

• Y10S901/47

  Optical · CPC title

• B25J19/06

  Safety devices · CPC title

• B25J19/0091

  Shock absorbers (in general F16F) · CPC title

• B25J11/008

  Manipulators for service tasks · CPC title

• B25J9/1697

  Vision controlled systems · CPC title