Mobile robot system

Patent metadata

Field	Value
Publication number	US-9902069-B2
Application number	US-201514625646-A
Country	US
Kind code	B2
Filing date	Feb 19, 2015
Priority date	May 20, 2010
Publication date	Feb 27, 2018
Grant date	Feb 27, 2018

Abstract

A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

First claim

What is claimed is:

1. A method of operating a robot, the method comprising:
maneuvering the robot about a scene;
capturing images of the scene along a drive direction of the robot, the images comprising at least one of a three-dimensional depth image, an active illumination image, or an ambient illumination image;
receiving sensor data indicative of the scene, the sensor data comprising the images;
communicating the sensor data from the robot to a cloud computing service that processes the received sensor data into a process resultant, the process resultant comprising an indoor or outside street view of the scene comprising reference locations marked thereon;
receiving the process resultant at the robot from the cloud computing service; and
maneuvering the robot in the scene based on the received process resultant,
wherein the cloud computing service further provides a 2-D map to the robot, the cloud computing service computing the 2-D map from a 3-D map, wherein the 2-D map indicates obstacles or hazards to the robot.

2. The method of claim 1 , wherein capturing the images comprises:
rotating a camera or imaging device up to 360 degrees.

3. The method of claim 2 , further comprising:
maneuvering the robot based on a view from the camera or imaging device to navigate, or maneuvering the robot based on the view from the camera or imaging device to change a field of view of the camera or imaging device.

4. The method of claim 3 , wherein maneuvering the robot comprises:
receiving, from a computing device associated with a remote user, a user command specifying navigation of the robot and/or the change in the field of view of the camera or imaging device based on the view from the camera or imaging device,
wherein the maneuvering the robot is responsive to the user command.

5. The method of claim 4 , wherein maneuvering the robot comprises:
altering a height to raise or lower the field of view of the camera or imaging device responsive to the user command.

6. The method of claim 1 , further comprising:
receiving, from a computing device, a user request specifying one or more navigation points on a layout map; and
autonomously navigating the robot based on the one or more navigation points that were specified responsive to receiving the user request.

7. The method of claim 6 , wherein autonomously navigating the robot based on the one or more navigation points comprises:
generating a robot map comprising one or more detected obstacles in addition to information included in the layout map;
mapping one or more points on the layout map to one or more corresponding points on the robot map based on local distortion calculation and/or one or more tagged points of the layout map; and
autonomously navigating the robot using the robot map.

8. The method of claim 1 , further comprising:
transmitting, to a computing device associated with a remote user, a signal comprising the images of the scene that were captured in real time ;
receiving, from the computing device associated with the remote user, a signal comprising sound corresponding to a voice of the remote user; and
providing the sound as an output via one or more speakers of the robot.

9. The method of claim 1 , wherein each reference location marked further comprises linked images, video, or promotional information.

10. The method of claim 1 , wherein the process resultant comprises an occupancy map of the scene that is built around the robot by linking together pictures or video captured by a camera or a volumetric point cloud imaging device positioned on the robot and using reference coordinates, as provided by one or more of odometry, a global positioning system, and way-point navigation.

11. A method of operating a robot, the method comprising:
maneuvering the robot about a scene;
capturing images of the scene along a drive direction of the robot, the images comprising at least one of a three-dimensional depth image, an active illumination image, or an ambient illumination image;
receiving sensor data indicative of the scene, the sensor data comprising the images;
communicating the sensor data from the robot to a cloud computing service that processes the received sensor data into a process resultant, the process resultant comprising an indoor or outside street view of the scene comprising reference locations marked thereon, wherein each reference location marked further comprises linked images, video, or promotional information;
receiving the process resultant at the robot from the cloud computing service; and
maneuvering the robot in the scene based on the received process resultant.

12. The method of claim 11 , further comprising:
emitting a speckle pattern of light onto the scene;
receiving reflections of the speckle pattern from an object in the scene;
storing reference images in cloud storage of the cloud computing service of the speckle pattern as reflected off a reference object in the scene, the reference images captured at different distances from the reference object; and
capturing at least one target image of the speckle pattern as reflected off a target object in the scene and communicating the at least one target image to the cloud computing service;
wherein the cloud computing service compares the at least one target image with the reference images for determining a distance of the target object.

13. The method of claim 12 , further comprising determining a primary speckle pattern on the target object and computing at least one of a respective cross-correlation and a decorrelation between the primary speckle pattern and the speckle patterns of the reference images.

14. The method of claim 11 , wherein the cloud computing service at least temporarily stores the received sensor data in cloud storage and discards the received sensor data after processing the received sensor data.

15. The method of claim 11 , wherein the sensor data comprising the images further comprises image data having associated sensor system data, the sensor system data comprising at least one of accelerometer data traces, odometry data, or a timestamp.

16. The method of claim 11 , wherein the process resultant comprises an occupancy map of the scene, and further comprising marking reference locations on the occupancy map and path planning through the reference locations marked on the occupancy map.

17. The method of claim 11 , wherein the process resultant comprises an occupancy map of the scene, and wherein the scene is a mall of stores and the occupancy map includes a path view with each store marked on the occupancy map as a reference location.

Assignees

• Irobot Corp

Inventors

• Farlow Timothy S
• Rosenstein Michael T
• Halloran Michael
• Won Chikyung
• Shamlian Steven V
• Chiappetta Mark

Classifications

• H04N7/142 Primary

  Constructional details of the terminal equipment, e.g. arrangements of the camera and the display · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• G05D1/0242

  using non-visible light signals, e.g. IR or UV signals · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/027

  comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165) · CPC title