Versatile autonomous mobile platform with 3-d imaging system
An autonomous mobile system comprising: a means of achieving mobility, a means of navigating, a means of providing autonomous power, and a means of providing general purpose computing. In some embodiments, the system comprises a base unit capable of sensing its environment and computing navigation instructions to direct the system to move to particular locations and execute functions as directed by a set of programmed instructions. In some embodiments, two or more time-of-flight (TOF) imaging systems are attached to measure distance to objects in the environment, which may in turn be used by the means of navigating. In some embodiments, a coupling exists on the base unit to attach additional structures and mechanisms. These structures may comprise a means for carrying packages or other items, robotic manipulators that can grab and move objects, interactive audio and video displays for telepresence applications, a means for serving food and drink, etc.
1. A robotic system comprising:
a power source;
a means to move through a designated environment;
an attached computing device;
a navigation system to direct the motion of the apparatus through the designated environment; and
a means for coupling a first additional accessory comprising a connector for providing power from the power source to the first additional accessory; and
at least two sensor modules positioned to detect distances to objects within the designated environment; wherein
each of the at least two sensor modules comprises:
a time-of-flight optical system comprising:
one or more light sources that provide modulated illumination;
an imaging lens configured to collect light originating from the light sources that has been scattered and/or reflected from objects in the environment;
an array imaging sensor positioned at a location where the lens forms an image; and
electronic circuitry that performs phase sensitive analysis of a signal from the imaging sensor and determines an estimate of the distance from the object to the sensor.
2. The robotic system of claim 1 , wherein
the power source comprises a battery selected from the group consisting of:
a lead acid battery, a deep cycle lead acid battery, a sealed lead acid battery,
an AGM lead acid battery, a gel lead acid battery, a nickel-cadmium battery,
a nickel-metal-hydride battery, a lithium battery, a silicon-mediated lithium battery,
a lithium ion battery, and an alkaline battery.
3. The robotic system of claim 1 , wherein
the power source comprises a common power conversion system selected from the group consisting of consisting of:
a fuel cell, a hydrogen fuel cell, a hydrocarbon powered heat engine, a microwave transmission energy power source, an inductive energy source, a flywheel, a flywheel energy storage system, and a Carnot engine.
4. The robotic system of claim 1 , wherein
the computing device comprises at least one microprocessor.
5. The robotic system of claim 1 , wherein
the computing device directs the activity of the means
to move through said designated environment.
6. The robotic system of claim 1 , wherein
the navigation system utilizes the attached computing device.
7. The robotic system of claim 1 , further comprising
a means to communicate using a wireless communication network.
8. The robotic system of claim 1 , additionally comprising:
a connector for communicating data between the robotic system and the first additional accessory.
9. The robotic system of claim 1 , wherein
the at least two sensor modules are oriented at approximately 90 degrees relative to each other.
10. The robotic system of claim 1 , wherein
at least a portion of the modulated illumination has wavelength in the near infrared wavelength range.
11. The robotic system of claim 1 , wherein
the one or more light sources comprise one or more light emitting diodes (LEDs) configured as the source of the modulated illumination.
12. The robotic system of claim 1 , additionally comprising
control electronics comprising a microcontroller, wherein
the microcontroller is connected to each of the at least two sensor modules, and the microcontroller is additionally connected to the computing device.
13. The system of claim 1 , wherein
distance information from the two sensor modules is provided to the navigation system of the robot.
14. A method for environmental sensing in a robotic system, comprising:
determining one set of distances to objects within 5 meters of a robot using a first time-of-flight optical sensor;
determining a second set of distances to additional objects within 5 meters of the robot using a second time-of-flight optical sensor;
processing the two sets of distances to form a representation of the environment of the robot.
15. The method of claim 14 , wherein
the step of processing comprises a wall detect mode.
16. The method of claim 14 , wherein
the representation of the environment is provided as data to a navigation system for the robot.
17. A non-transient computer readable medium containing program instructions for causing a computer to perform a method for environmental sensing in a robotic system, comprising:
determining one set of distances to objects within 5 meters of a robot using a first time-of-flight optical sensor;
determining a second set of distances to additional objects within 5 meters of the robot using a second time-of-flight optical sensor;
processing the two sets of distances to form a representation of the environment of the robot.
18. The computer readable medium of claim 17 , wherein
the step of processing comprises a wall detect mode.
19. The method of claim 17 , wherein
the representation of the environment is provided as data to a navigation system for the robot.