Sensor configurations and methods for mobile robot
A mobile robot can include an elongated body no more than two meters high and no more than one meter wide; at least one securable container; at least one depth sensor mounted near or at the top of the body to have a downward field of view (FOV), the at least one depth sensor comprising a video camera in combination with another distance sensor; and a drive mechanism configured to provide linear and rotational movement for the robot.
1. A mobile robot, comprising:
a generally cylindrical body between 0.5 and 2 meters high that is no wider than a meter having no structures extending away from the body in a lateral direction by more than one third of the body width;
at least one securable container disposed within the body;
at least one depth sensor mounted within an upper 25% of the body, the depth sensor having a field of view (FOV) of no more than 180° and configured to sense objects proximate the robot; and
a drive mechanism configured to provide linear and rotational movement for the robot.
2. The mobile robot of claim 1 , wherein:
the at least one depth sensor is fixedly mounted to the body.
3. The mobile robot of claim 2 , wherein:
the at least one depth sensor comprises an emitter configured to emit a signal and an image sensor configured to sense the signal as reflected off objects.
4. The mobile robot of claim 3 , wherein:
the emitter is an infrared (IR) light transmitter and the image sensor is an IR video camera.
5. The mobile robot of claim 1 , wherein:
the at least one depth sensor is mounted with a downward angle up to one half the FOV from vertical.
6. The mobile robot of claim 1 , wherein:
the at least one depth sensor includes a plurality of depth sensors, including
a first depth sensor, and
a second depth sensor mounted proximate the first depth sensor having a FOV orientation different from that of the first depth sensor.
7. The mobile robot of claim 1 , wherein:
the robot has a forward direction of motion when navigating; and
the at least one depth sensor is configured to detect objects in a detection area, the detection area including
an area on a traveled surface in the forward direction of motion, and
an area in a space in front of the robot in the forward direction of motion.
8. A mobile robot, comprising:
an elongated body no more than two meters high and no more than one meter wide;
at least one securable container disposed within the body;
at least one depth sensor mounted near or at the top of the body to have a downward field of view (FOV), the at least one depth sensor comprising an image sensor in combination with a beam emitting device; and
a drive mechanism configured to provide linear and rotational movement for the robot.
9. The mobile robot of claim 8 , wherein:
the image sensor is configured to sense a beam emitted from the beam emitting device as reflected off objects in a navigated environment.
10. The mobile robot of claim 8 , wherein:
the beam emitted by the emitting device comprises light of a non-visible spectrum.
11. The mobile robot of claim 8 , wherein:
the at least one depth sensor comprises a plurality of depth sensors including
a first depth sensor, and
a second depth sensor mounted proximate the first depth sensor having a FOV orientation different from that of the first depth sensor.
12. The mobile robot of claim 11 , wherein:
the first depth sensor has a forward looking FOV orientation; and
the second depth sensor has FOV orientation in a more downward direction than that of the first depth sensor.
13. The mobile robot of claim 8 , further including:
at least one light source; wherein
the at least one depth sensor is configured to sense objects by at least light from the one light source reflecting off objects in a navigated environment.
14. The mobile robot of claim 8 , further including:
secondary sensors mounted to the body below the at least one depth sensor and configured to detect the proximity of objects.
15. The mobile robot of claim 8 , wherein:
the robot has a forward direction of motion when navigating; and
the at least one depth sensor is configured to detect objects in a detection area, the detection area including
an area on a traveled surface in the forward direction of motion, and
an area in a space in front of the robot in the forward direction of motion.
16. A method, comprising:
navigating a mobile robot through an environment to deliver contents in a securable container, the robot having an elongated body no more than two meters high and no more than one meter wide, including
sensing local objects with at least one depth sensor mounted near or at the top of the body having a field of view less than 180° to generate a local occupancy grid with a processor contained in the robot; and
generating control inputs to a drive mechanism of the robot to avoid the sensed local objects as the robot moves to a delivery location; wherein
the securable container is disposed within the body.
17. The method of claim 16 , wherein:
sensing local objects includes
emitting a signal to reflect off the local objects, and
capturing the reflected signal with an image sensor.
18. The method of claim 16 , including:
sensing local objects with
a first depth sensor the first depth sensor having a forward looking field of view (FOV) orientation, and
a second depth sensor having a FOV orientation in a more downward direction than that of the first depth sensor.
19. The method of claim 16 , including:
sensing local objects includes rotating the robot body to enable the at least one depth sensor to determine positions of local objects.
20. The method of claim 16 , further including:
generating a localized position for the robot in response to data generated from the at least the one depth sensor and map data.