Displaying images from a robot
A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialog with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.
1. A method performed by a robotic system including a mobile robot comprising a camera, the method comprising:
segmenting a map of a household into a plurality of areas of the household, each of the plurality of areas having a corresponding room identity;
causing a display device to present, to a user, a plurality of room identity markers;
for each of at least two room identities of a plurality of room identities corresponding to the plurality of areas:
causing the display device to present, to the user, an image taken by the robot with the camera in an area of the plurality of areas corresponding to a room identity;
receiving, using at least one processor remote from the mobile robot, a selection from the user of a room identity marker from the presented plurality of room identity markers; and
assigning the room identity marker to the room identity;
causing the mobile robot to follow a planned path in a privacy mode, avoiding obstacles unanticipated in the planned path while image data from the camera is inaccessible to the user on the display device, to a position within the household corresponding to a designation of a destination room identity marker of the plurality of room identity markers, wherein causing the drive system of the mobile robot to follow the path further comprises
moving the camera to an image-disabling position when the robot is along a portion of the planned path located outside of a destination area of the plurality of areas corresponding to a destination room identity assigned to the destination room identity marker; and
moving the camera to an image-enabling position when the mobile robot is along a portion of the planned path located inside of the destination area; and
enabling imagery to be presented on the display device in response to the robot reaching the position within the household.
2. The method of claim 1 , further comprising generating the map of the household by traversing the household.
3. The method of claim 2 , wherein said traversing the household comprises traversing the household while taking, with the camera, images of areas corresponding to the at least two room identities.
4. The method of claim 2 , wherein said traversing the household comprises traversing the household while capturing, for each of the plurality of room identities, topological adjacency data for a particular area of the plurality of areas corresponding to a particular room identity, the topological adjacency data specifying which other areas of the plurality of areas, if any, are topologically adjacent to the particular area.
5. The method of claim 4 , wherein said capturing the topological adjacency data comprises closing one or more topological paths according to odometry or localization data.
6. The method of claim 1 , wherein said segmenting the map comprises:
causing the display device to present, to the user, at least a portion of the map, and
receiving user feedback for segmenting the map.
7. The method of claim 1 , wherein said segmenting the map comprises identifying features associated with the plurality of areas to segment the map without user feedback.
8. The method of claim 1 , further comprising, for each of the at least two room identities, after receiving the selection of the room identity marker, driving to the area of the plurality of areas corresponding to the room identity assigned to the room identity marker.
9. The method of claim 8 , wherein said driving to the area comprises driving from a first area through one or more topologically linked areas to the area using topological adjacency data.
10. The method of claim 8 , further comprising receiving control command, wherein causing the mobile robot to follow the planned path comprises causing the mobile robot to follow the planned path in response to the control command.
11. The method of claim 1 , further comprising:
receiving the designation of the destination room identity marker; and
planning the planned path from a current position within a current area of a current room identity, through any intervening areas of different room identity, to a position within the destination area.
12. The method of claim 11 , wherein receiving the designation comprises receiving the designation from the user.
13. The method of claim 1 , further comprising:
planning the planned path such that the planned path comprises a succession of positions within the destination room identity, through any necessarily intervening positions, each of the positions corresponding to a destination room identity marker; and
causing the drive system of the mobile robot to follow the planned path, avoiding new obstacles unanticipated in the planned path, to complete the planned path within the destination room identity.