WO2023141259A1

WO2023141259A1 - A wheeled robot and related methods

Info

Publication number: WO2023141259A1
Application number: PCT/US2023/011221
Authority: WO
Inventors: Ross Macgregor; Damon ARNIOTES; Brett Goldfarb; Christopher KAPPELMANN
Original assignee: CO6, Inc.
Priority date: 2022-01-20
Filing date: 2023-01-20
Publication date: 2023-07-27

Abstract

A wheeled robot and related systems and methods are described. A robot has two wheels and a body positioned along an axis. A media has instructions that, when executed, cause the robot to execute a method, the method including: enter an active state; determine the robot is in a substantially vertical position; cause the first wheel to rotate at a first frequency. The method includes, after causing the first wheel to rotate at the first frequency, determine the robot is not in a substantially horizontal position; after determining the robot is not in a substantially horizontal position, cause the first wheel to rotate at a second frequency, whereby the robot is caused to topple over into the horizontal position; and after causing the first wheel to rotate at a second frequency, determine the robot is in the substantially horizontal position.

Description

TITLE: A WHEELED ROBOT AND RELATED METHODS

CROSS-REFERENCE TO RELATED APPLICATIONS

[001] This application claims priority to U.S. Provisional Application No. 63/301,101, filed January 20, 2022 and entitled “A WHEELED ROBOT AND RELATED METHODS,” the entire disclosure of which is hereby incorporated by reference for all proper purposes.

FIELD

[002] This invention is related to robotic devices. Specifically, but not intended to limit the invention, embodiments of the invention are related to robotic devices for situational awareness.

BACKGROUND

[003] In recent years, various persons and organizations have increasingly relied on technology to monitor the safety conditions of people and property.

[004] For example, homeowners rely on home monitoring systems having video and motion detection capabilities that enable the homeowners to monitor their homes from afar. Some systems include video and/or sound recording capabilities and some motion controls, such as locking or unlocking a door. See, for example, the home security systems and monitoring services offered by Ring LLC and SimpliSafe, Inc. These systems, however, are limited to stationary locations.

[005] Law enforcement and/or military personnel similarly rely on remote-controlled devices to assess conditions from afar, such as the Throwbot™ product and service offered by ReconRobotics. The devices currently available offer remote monitoring. However, the operator must be within a relatively close range, and the Applicant is unaware of the above-described devices having any video recording capabilities.

[006] There thus remains a need for a device or system capable of safely assessing the conditions of various locations or situations. SUMMARY

[007] An exemplary robot has a first wheel positioned and configured to rotate about an axis; a first motor positioned and configured to operate the first wheel; a second wheel positioned and configured to rotate about the axis; and a second motor positioned and configured to operate the second wheel. The exemplary robot has a body positioned along the axis between the first wheel and the second wheel, the body housing a camera, an inertial measurement unit, and a tangible, non-transitory machine-readable media comprising instructions that, when executed, cause the robot to execute a method. The method includes: enter an active state from a sleep state; determine the robot is in a substantially vertical position relative to a surface, wherein the first wheel is above and adjacent the surface; and cause the first wheel to rotate in a first direction and a second direction opposite the first direction at a first frequency. The method includes, after causing the first wheel to rotate at the first frequency, determine the robot is not in a substantially horizontal position relative to the surface. The method includes, after determining the robot is not in a substantially horizontal position, cause the first wheel to rotate in the first direction and the second direction at a second frequency different from the first frequency, whereby the robot is caused to topple over into the horizontal position. The method includes, after causing the first wheel to rotate in the first direction and the second direction at the second frequency, determine the robot is in the substantially horizontal position.

[008] An exemplary situational awareness system includes the robot described above, a charging station, and a retrieval tether.

BRIEF DESCRIPTION ON THE DRAWINGS

[009] FIG. l is a front perspective view of a wheeled robot;

[0010] FIG. 2 is a bottom perspective view of the wheeled robot in FIG. 1;

[0011] FIG. 3 is a rear perspective view of the wheeled robot in FIG. 1;

[0012] FIG. 3B is a rear perspective view of the wheeled robot in FIG. 1 with a support member moved;

[0013] FIG. 4 is a first detailed view of a camera suitable for use with the wheeled robot in FIG. [0014] FIG. 5 is a second detailed view of a camera suitable for use with the wheeled robot in FIG. 1;

[0015] FIG. 6 is a third detailed view of a camera suitable for use with the wheeled robot in FIG. 1;

[0016] FIG. 7 is a side and section view of a wheel suitable for use with the wheeled robot in FIG. 1;

[0017] FIG. 8 is a side and section view of a wheel suitable for use with the wheeled robot in FIG. 1;

[0018] FIG. 9 is a perspective view of a wheel suitable for use with the wheeled robot in FIG. 1;

[0019] FIG. 10 is a perspective view of a wheel suitable for use with the wheeled robot in FIG. 1;

[0020] FIG. 11 is a perspective view of a wheeled robot positioned in a charging station;

[0021] FIG. 12 is a perspective view of a plurality of wheeled robots positioned in a charging station and detailed views of features of the charging station;

[0022] FIG. 13 is a perspective view of a wheeled robot positioned in a mounting fixture and detailed views of the mounting fixture;

[0023] FIG. 14 is a front view of a wheeled robot positioned in a mounting fixture and detailed views of the mounting fixture;

[0024] FIG. 15 illustrates a mounting fixture and detailed views of three attachment means;

[0025] FIG. 16 is a front view of a mounting fixture and a wheeled robot positioned in the mounting fixture;

[0026] FIG. 17 is a front perspective view of a portion of a wheeled robot positioned in a mounting fixture and a detailed view of the mounting fixture;

[0027] FIG. 18 is a front view of a portion of a wheeled robot positioned in a mounting fixture;

[0028] FIG. 19 is a side perspective view of a wheeled robot detailing a mounting fixture;

[0029] FIG. 20 is a schematic view of a wheeled robot coupled to a telescoping boom;

[0030] FIG. 21 is a schematic view of a wheeled robot coupled to a tripod; [0031] FIG. 22 is a detailed view of a tethering device and a portion of a wheeled robot;

[0032] FIG. 23 is a schematic view of a launching device and a wheeled robot;

[0033] FIG. 24 is a perspective view of a wheeled robot and a transportation kit;

[0034] FIG. 25 is a side schematic view of the wheeled robot and transportation kit in FIG. 23;

[0035] FIG. 26 is a flowchart of a method;

[0036] FIG. 27 is a flowchart of another method; and

[0037] FIG 28 is a schematic of a control system and some components of the robot illustrated in FIG. 1.

DETAILED DESCRIPTION

[0038] Before turning to details of the invention disclosed herein, it is expedient to describe general concepts and problems addressed by the Applicant. For example, and as disclosed in coowned PCT Publication No. WO 2021/138531 Al, published on July 8, 2021, there remains a need for improved monitoring of the safety of people and property. The entire disclosure of PCT Publication No. WO 2021/138531 Al, published on July 8, 2021 is incorporated herein by reference for all proper purposes. In the present disclosure, useful means and inventions for improving the user’s experience and device performance are disclosed.

[0039] For the purpose of this document, the term “distal” shall reference features farther away from a central axis, while the term “proximal” shall reference features closer to the central axis.

[0040] Additionally, when referencing features disclosed in the figures, like characters may represent the same or similar components across multiple figures. As but one example, a first wheel 102 as shown in Fig. 1 may be illustrated with a paddle exterior surface 116 as shown in Fig. 7, a slick surface 118 as shown in Fig. 9, or a treaded surface 122 as shown in Fig. 10.

[0041] Turning now to Figs. 1-6, embodiments herein are described in greater detail. Some embodiments comprise a robot 100 having a first wheel 102 positioned and configured to rotate about an axis A- A, and a second wheel 104 positioned and configured to rotate about the axis A- A, whereby the robot 100 is configured to move between a first location and a second location. The first and second wheels 102, 104 may rotate at different speeds and/or in opposing directions to effectuate the movement. Although not illustrated, the robot 100 may include controls responsive to wireless instructions to effectuate motion.

[0042] In some embodiments, at least one of the wheels 102, 104 is detachable from the axis A- A by a user. For example, a wheel 102, 104 may include a rigid, semi-rigid, or flexible cover that a user engages to slip the wheel 102, 104 off the axis A- A, such as by slipping the wheel 102, 104 off an axle (not shown) defined by the axis A-A. In some embodiments, the wheel 102, 104 may include an interference fit between the wheel 102, 104 and the axis A-A, or an axle as is known in the art. In some embodiments, the wheel 102, 104 may include an attachment mechanism, such as a screw or bolt, operatively fixing the wheel 102, 104 to the axis A-A, such as by way of an axle (not shown).

[0043] Continuing with Figs. 1-6, the robot 100 may include a camera 106 operatively coupled to the axis A-A. The camera 106 may include or interface a detachable window 112, as shown in Figs. 4-6. The detachable window 112 may be rotated relative to the camera 106 to lock the window 112 onto the camera 106, as shown in Fig. 5. The detachable window 112 may be removed from the camera 106, as shown in Fig. 6, and may be replaceable. The window 112 may be configured to protect the camera 106 from breakage. In some embodiments, the detachable window 112 comprises a locking frame 113 and an O-ring 115, as seen most clearly in Fig. 6, to seal the window 112 to the camera 106, such as to the camera body 107. In some embodiments, the window 112 may be configured to alter optical properties of the camera 106, such as, for example only, increasing or decreasing the viewing angle of the camera 106.

[0044] Returning to Figs. 1-3, the robot 100 may include in some embodiments a support member 108. The support member 108 may be operatively coupled to the axis A-A and may be configured to maintain a desired orientation of the camera 106 relative to a surface during movement between a first location and a second location. The support member 108 may be adjustable and/or removable. Those skilled in the art will recognize that rotation of both wheels 102, 104 may cause the camera 106 to rotate if no counterforce is present. Thus, the support member 108 may be provided to give the necessary counterforce.

[0045] As seen most clearly in Fig. 3 and Fig. 3B, the support member 108 may be movable relative to the axis A-A. For example, the support member 108 may be moved between an extended position as shown in Fig. 3 and a collapsed, retracted, or storage position as shown in Fig. 3B. The support member 108 may be rotatable about an axis B-B, such as a hinge 111. A locking mechanism 109 may be provided to maintain the support member 108 in the extended position and/or the storage position. The locking mechanism 109 may include a spring 109 or other means to maintain the support member in the extended position, such as during driving. The locking mechanism 109 may include a latch mechanism, a detent 109a, a hinge 111 and detent 109a, or other means known to those skilled in the art to enable a user to lock or place the support member 108 in the storage position, as shown in Fig 3B. The storage position may be selected to promote or enable a user to easily dock, charge, or store the robot 100, such as in a charging station as seen, for example, in Fig. 11.

[0046] Turning again to Fig. 2, and with brief reference to Fig. 21, the support member 108 may include a detachable distal end 110. The detachable distal end may be made of a material that is different from a material forming a proximal portion of the support member 108. In some embodiments, the material in the distal end 110 may be selected to reduce noise during movement of the robot 100. In some embodiments, the material in the distal end 110 may be selected to wear at a rate that is different from that of the proximal portion of the support member 110. In some embodiments, the material in the distal end 110 may be selected to have an effect on the center of gravity of the robot 100. That is, the distal end 110 may have a material that significantly moves the center of gravity from the axis A-A toward the distal end 110, to reduce the likelihood of the body 107 flipping when the robot quickly decelerates and/or moves downward, such as when the surface is sloped.

[0047] With reference again to Figs. 1-3B, the paddles 116a, 116b of the wheel(s) 102, 104 may be designed for rocky terrain. Specifically, the paddles 116a, 116b may be designed to provide both wide gaps G and narrow gaps g between the paddles 116a, 116b, which allows the robot 100 to move quietly across rocky terrain while maintaining a grip across large rocky components.

[0048] Turning now to Figs. 7-10, the wheels 102, 104 may be configured with features suitable to the environment in which the robot 100 will operate. In some embodiments, the wheel 102, 104 may include an exterior 114 having a plurality of paddles 116 as shown in Fig. 7. In some embodiments, the wheel 102, 104 may include an exterior 114 having a slick tread 118 as shown in Figs 8-9. In some embodiments, the wheel 102, 104 may include an exterior 114 having a tread 122 as shown in Fig. 10. The slick tread 118 may be selected when indoor use is anticipated, particularly where the need to minimalize noise is present. The paddles 116 and/or tread 122 may be selected when outdoor and/or rough terrain is anticipated.

[0049] In some embodiments, a wheel 102, 104 may include an interior 120 comprising at least one of foam or air, as shown in Fig. 8. The foam or air interior 120 may reduce the weight of the robot 100 (and thus increase the distance the robot 100 may be launched, as discussed in other sections of this document) and/or the noise the robot 100 creates when in motion and/or the power draw of the robot 100 (and thus increase the power up time).

[0050] Turning to Figs. 11-12, the robot 100 may include or may be coupled to a charging station 200. In some embodiments, the charging station 200 may configured to charge a plurality of robots 100 at the same time. The charging station 200 may include one or more docking stations 202 for charging. The charging station 200 may include a power connector 204, such as to connect the charging station 200 to a main power, or such as to connect the charging station 200 to another power source, such as a vehicle, generator, or other power source. The charging station 200 may be expandable. For example, a plurality of docking stations 202 may include electrical connectors 206 and locking means 208 or lips to couple the docking stations 202 to each other and provide electronic power from the power connector 204 in a manner known to those skilled in the art.

[0051] In some embodiments, a docking station 202 may be configured to charge a robot by way of a power conductor such as a USBC connector 210. It should be understood by those skilled in the art that a corresponding socket may be provided in the robot 100.

[0052] In some embodiments, the charging station 200 may include a wall mount 212.

[0053] Turning to Figs. 13-18, in some embodiments, the robot 100 may include or may be coupled to a mounting fixture 300.

[0054] As shown in Fig. 13, the mounting fixture 300 may include a mounting means 302 for mounting the robot 100 to something else, such as a wall, a GoPro, a telescoping boom, etc. The mounting fixture 300 may include one or more links 304, 306 that operate in a clamshell fashion to close about the robot 100 or camera body 107. The links 304, 306 may close or lock together using a latch 308.

[0055] Turning to Fig. 14, the mounting fixture 300 may include a base 310 (which may have a mounting means 302) and a strap 312 for coupling the robot 100 to the base 310. [0056] As shown in Fig. 15, the mounting fixture 300 may include a base 310 (which may have a mounting means 302) having a pair of opposing end legs 314, 316. In some embodiments, one or both legs 314, 316 may have a threaded bolt 318 or screw that can be rotated to tighten the robot 100 to the mounting fixture 300. In some embodiments, one or both legs 314, 316 may include a spring or detent feature 320 to engage the ends of the robot 100 and thereby attach the robot 100 to the mounting fixture 300. In some embodiments, the legs 314, 316 may be semiflexible or have a semi-flexible component 322 to provide a friction fit to the robot 100 and thereby attach the robot to the mounting fixture 300. The base 310 may include a mounting means 302 to attach the mounting fixture 300 to a wall or other object.

[0057] Turning to Fig. 16, the mounting fixture 300 may function similarly to the embodiments illustrated in Fig. 15, in that a base 310 may have movable legs 314, 316. Here, however, the legs 314, 316 may engage a small edge of the robot 100 and may be operable by a lever 324 to disengage from the robot 100.

[0058] Turning to Fig. 17, the mounting fixture 300 may include a base 310 having a recess 326 and may be configured to receive an end portion of a wheel 102, 104 to stand the robot 100 upright. That is, the mounting fixture 300 may function like a cupholder.

[0059] Turning to Fig. 18, shown is a mounting fixture 300 that functions much like that shown in Fig. 17, but a frame, such as a wire frame 328 may be provided to engage and hold the robot 100 in a manner that is similar to that of a water bottle holder.

[0060] Turning to Fig. 19, a mounting fixture 300 may include one or more threaded inserts 330 positioned in a wheel 102, 104 may be provided to allow a user to screw the robot 100 to a surface.

[0061] As illustrated in Fig. 20, the robot 100 may be configured to be removably attached to a telescoping boom 400, such as by way of a mounting fixture 300 or other means.

[0062] As illustrated in Fig. 21, the robot 100 may be configured to be removably attached to a tripod 500, such as by way of a mounting fixture 300 or other means.

[0063] Turning now to Fig. 22, a retrieval reel 600 and/or retrieval tether 602 may be provided to enable a user to retrieve the robot 100 manually from a tight location.

[0064] Turning now to Fig. 23, a launching device 700 may be provided to propel the robot 100 through air to the first location. The launching device 700 may include a keyed barrel 702 to guide the robot 100. The launching device 700 may include a spring actuator 704 to launch the robot 100.

[0065] Turning now to Figs. 24-25, a system 900 may include a robot 100 as described herein and a transportation kit 800. The transportation kit 800 may have a housing 802 configured to house the robot 100 in a first housing shell 804 and a robot accessory 808 in a second housing shell 806. The shells 804, 806 may be movable between an open configuration and a closed configuration.

[0066] The transportation kit 800 may have first attachment means 810 positioned and configured to detachably couple the housing 802 to a user’s belt, a vehicle charger interface 812, and a second attachment means 814 positioned and configured to detachably couple the housing 802 to a user’s leg.

[0067] Turning now to Fig. 26, shown is a flowchart of a method 1000.

[0068] The method 1000 may include providing 1002 a situational awareness robot or system such as those described herein. The method 1000 may include positioning 1004 the robot in the charging station. The method 1000 may include deploying 1006 the robot to the first location. The method 1000 may include causing 1008 the robot to move between the first location and the second location. The method 1000 may include applying a force 1010 on the retrieval tether to retrieve the robot from at least one of the first location or the second location. The method 1000 may include providing 1012 a launching device configured to propel the robot through air to the first location. The method 1000 may include actuating 1014 the launching device, whereby the robot is propelled through air. The method 1000 may be achieved using the robot 100 and/or system described herein.

[0069] The robot 100 may be used in an environment in which the robot 100 may remain for long periods of time in a “sleep” state, such as a power-saving state, until the robot 100 receives a signal or instruction to enter an “active” state, such as wherein all functions of the robot 100 are fully functional. The robot 100 may also be configured to rest on first end 102a (see Fig. 3B) - that is, vertically - during a “sleep” state and, when activated, to topple over into a horizontal position to roll on a surface. The robot 100 may be configured to enter an “active” state in response to an input from a user such as by way of a user interface 140 and/or an input from an input receiverl38, a camera 106 and/or other input, such as measurements by an IMU 132 that indicate ground movement. The input receiver 138 may be a sound receiver, a proximity sensor and/or other receiver providing information regarding the environment and/or orientation of the robot 100.

[0070] To cause a robot 100 standing on a first wheel 102 or first end 102a to topple over into a substantially horizontal position, the robot 100 may be treated as a metastable system, and it can be destabilized by rocking the robot 100 from side to side. Thereby, the metastable state can be broken and the robot 100 will “topple” to a more stable horizontal position. Destabilizing the vertical state may be accomplished by actuating the motor (not shown) of the wheel 102 that is touching the ground or surface. The center of mass is off center in the vertical state which will yield a horizontal force when the robot’s mass is accelerated. Notably, merely rotationally accelerating the robot 100 or the first wheel 102 in one direction is not necessarily enough to destabilize the vertical state and produce a topple. Instead, accelerating the wheel 102 back and forth at the resonant frequency of the mechanical rocking action allows the energy and motion to build to the point that the robot 100 falls over.

[0071] Notably, the resonant frequency that will cause the robot 100 to topple is not static; instead, the resonant frequency varies with changes in the wear and tear on the robot components, the angle of the surface, and the stability of the surface itself (e.g. if the surface is solid, has a high friction component, is slippery, covered with sand/rocks, etc.) Thus, the resonant frequency cannot simply be programmed into the control unit. To overcome this unknown variable, in order to find the resonant frequency that will cause the robot 100 to topple, the robot 100 sweeps through a range of frequencies by changing the period of the back and forth action. Once the robot back and forth frequency is sufficiently close to the resonant frequency of the mechanical system, the robot 100 topples over. After the inertial measurement unit (IMU) 132 detects the change in orientation, the toppling effort is ceased.

[0072] To cause the robot 100 to topple into a horizontal position, in some embodiments, and with reference now to Fig. 27, a robot 100 may comprise a tangible, non-transitory machine- readable media 130 comprising instructions that, when executed, cause the robot 100 to execute a method 2000. The tangible, non-transitory machine-readable media 130 may be any processing device or control system known in the art. The method 2000 may include algorithms for executing various actions. [0073] The method 2000 may include causing the robot to enter an active state from a sleep state 2002. Causing the robot to enter the active state may be responsive to an input or signal from a user by means of a user interface 140 and/or a sensing device such as a camera 106, sound detection means 138, or other input means known in the art.

[0074] The method 2000 may include determining the robot is in a substantially vertical position relative to a surface 2004, wherein the first wheel 102 is above and adjacent the surface. The determining 2004 may be responsive to input from an inertial measurement unit 132, a camera 106, and/or other means.

[0075] The method 2000 may include causing the first wheel 102 (that is, the wheel adjacent the surface) to rotate in a first direction and a second direction opposite the first direction at a first frequency 2006.

[0076] The method 2000 may include, after causing the first wheel to rotate at the first frequency, determining the robot 100 is not in a substantially horizontal position relative to the surface 2008. The determining 2008 may be responsive to input from an inertial measurement unit 132, a camera 106, and/or other means.

[0077] The method 2000 may include, after determining the robot is not in a substantially horizontal position, causing the first wheel to rotate in the first direction and the second direction at a second frequency different from the first frequency, whereby the robot is caused to topple over into the horizontal position 2010.

[0078] The method 2000 may include, after causing the first wheel to rotate in the first direction and the second direction at a second frequency different from the first frequency, determining the robot is in the substantially horizontal position 2012. The determining 2012 may be responsive to input from an inertial measurement unit 132, a camera 106, and/or other means.

[0079] The method 2000 may include causing the first wheel to rotate at a third frequency different from the first and second frequencies prior to determining the robot is in a substantially horizontal position.

[0080] The method 2000 may include determining the robot 100 is in one of the substantially vertical position or the substantially horizontal position in response to data collected from the inertial measurement unit 132. [0081] The method 2000 may include confirming the robot is in one of the substantially vertical position or the substantially horizontal position in response to data collected from the camera 106.

[0082] The media 130 may include an algorithm to detect that the robot body 107 is upside down and right it. In some embodiments, the IMU system may be used to measure the orientation of the robot 100 or robot body 107. In some embodiments, the method 2000 may include analyzing data from the camera 106 and the IMU 132 and determining the robot 100 or body 107 is upside down. The robot 100 may include a user interface UI 140 that allows a user to instruct the robot 100 to flip right-side-up. The user interface 140 may include a button, voice activation, or other UI means to instruct the robot 100 or media 130 to execute a flip action. The flip action may utilize a proportional-integral-derivative (PID) controller with two levels of cascaded PID loops. The first level may be a PID control loop wherein the process variable is the pitch of the device as measured by the IMU 132. The control variable of this system may feed into two PID control loops that control the speeds of each wheel 102, 104 by means of a first motor 134 and a second motor 136 (see e.g. Fig. 28).

[0083] The method 2000 may include determining the body is in an upside-down orientation relative to the surface. The method may include causing the first wheel 102 and the second wheel to rotate 104 in a manner whereby the body 107 is caused to flip to a right-side-up orientation relative to the surface.

[0084] Driving downhill without tipping over requires other control considerations. In some embodiments, driving downhill is accomplished using a modified PID controller where pitch is the process variable. This controller differs from many traditional controllers in that only positive pitch error (the device flipping over) is considered. This controller may be a component of or an input to the media 130. The control variable of this PID loop may be interpreted as a “velocity augmentation” term that is added to the robot’s current desired speed. If the device starts tipping over while underway, the pitch PID loop error becomes positive. The pitch control variable will begin to grow which results in an increase of the desired speed term. The rest of the control system attempts to accelerate to the new desired speed which overcomes the tipping effect on the hill. [0085] Those skilled in the art will recognize that the system or method 2000 may be bounded and limited in multiple ways to ensure that the robot 100 does not endlessly run down a hill in an attempt to prevent tipping.

[0086] The method 2000 may include causing the wheels to rotate, whereby the robot is moved between a first location and a second location different from and downward from the first location. The method 2000 may include calculating a positive pitch error of the body. The method 2000 may include determining the positive pitch error is indicative the body is accelerating toward or approaching a flipping motion. The method 2000 may include, responsive to the determining the body is about to flip, adjusting a rate of rotation of one or both wheels, whereby the positive pitch error is indicative the body is not accelerating toward or approaching the flipping motion.

[0087] The media 130 may include instructions to control a braking action of the robot 100, wherein the braking action does not cause the robot 100 or body 107 to flip. Those skilled in the art will recognize that not tipping over while driving downhill or braking require similar considerations from a physics perspective. The solution to prevent flipping while braking may be to accelerate. The control system as described with respect to control flipping while going downhill governs how much to accelerate or adjust the acceleration when braking.

[0088] The method 2000 may include causing the wheels to rotate such that the robot decelerates as it moves between a first location and a second location. That is, the method 2000 may include causing the robot to brake. The method may include calculating a positive pitch error of the body and determining the positive pitch error is indicative the body is accelerating toward or approaching a flipping motion, such as while braking, and adjusting a rate of rotation of one or both wheels, whereby the positive pitch error is indicative the body is not accelerating toward the flipping motion while braking.

[0089] Fig. 28 illustrates a general schematic of the robot body 107 housing the non-transitory machine-readable media 130, the camera 106, the IMU 132, a user interface 140, an input receiver 138 such as a sound receiver, and outputs controlling a first motor 134 to control the first wheel 102 and a second motor 136 to control the second wheel 104.

[0090] Each of the various elements disclosed herein may be achieved in a variety of manners. This disclosure should be understood to encompass each such variation, be it a variation of an embodiment of any apparatus embodiment, a method or process embodiment, or even merely a variation of any element of these. Particularly, it should be understood that the words for each element may be expressed by equivalent apparatus terms or method terms — even if only the function or result is the same. Such equivalent, broader, or even more generic terms should be considered to be encompassed in the description of each element or action. Such terms can be substituted where desired to make explicit the implicitly broad coverage to which this invention is entitled.

[0091] As but one example, it should be understood that all action may be expressed as a means for taking that action or as an element which causes that action. Similarly, each physical element disclosed should be understood to encompass a disclosure of the action which that physical element facilitates. Regarding this last aspect, the disclosure of a “brake” should be understood to encompass disclosure of the act of “braking” — whether explicitly discussed or not — and, conversely, were there only disclosure of the act of “braking”, such a disclosure should be understood to encompass disclosure of a “braking mechanism”. Such changes and alternative terms are to be understood to be explicitly included in the description.

[0092] Moreover, the claims shall be construed such that a claim that recites “at least one of A, B, or C” shall read on a device that requires “A” only. The claim shall also read on a device that requires “B” only. The claim shall also read on a device that requires “C” only.

[0093] Similarly, the claim shall also read on a device that requires “A+B”. The claim shall also read on a device that requires “A+B+C”, and so forth.

[0094] The claims shall also be construed such that any relational language (e.g. perpendicular, straight, parallel, flat, etc.) is understood to include the recitation “within a reasonable manufacturing tolerance at the time the device is manufactured or at the time of the invention, whichever manufacturing tolerance is greater”.

[0095] Those skilled in the art can readily recognize that numerous variations and substitutions may be made in the invention, its use and its configuration to achieve substantially the same results as achieved by the embodiments described herein. [0096] Accordingly, there is no intention to limit the invention to the disclosed exemplary forms. Many variations, modifications and alternative constructions fall within the scope and spirit of the invention as expressed in the claims.

Claims

What is claimed is:

1. A robot, comprising: a first wheel positioned and configured to rotate about an axis; a first motor positioned and configured to operate the first wheel; a second wheel positioned and configured to rotate about the axis; a second motor positioned and configured to operate the second wheel; a body positioned along the axis between the first wheel and the second wheel, the body housing a camera, an inertial measurement unit, and a tangible, non-transitory machine- readable media comprising instructions that, when executed, cause the robot to execute a method, the method comprising: enter an active state from a sleep state; determine the robot is in a substantially vertical position relative to a surface, wherein the first wheel is above and adjacent the surface; cause the first wheel to rotate in a first direction and a second direction opposite the first direction at a first frequency; after causing the first wheel to rotate at the first frequency, determine the robot is not in a substantially horizontal position relative to the surface; after determining the robot is not in a substantially horizontal position, cause the first wheel to rotate in the first direction and the second direction at a second frequency different from the first frequency, whereby the robot is caused to topple over into the horizontal position; and after causing the first wheel to rotate in the first direction and the second direction at the second frequency, determine the robot is in the substantially horizontal position.

2. The robot of claim 1, wherein the method comprises: causing the first wheel to rotate at a third frequency different from the first and second frequencies prior to determining the robot is in a substantially horizontal position.

3. The robot of claim 1, wherein the method comprises: determining the robot is in one of the substantially vertical position or the substantially horizontal position in response to data collected from the inertial measurement unit.

4. The robot of claim 3, wherein the method comprises: confirming the robot is in one of the substantially vertical position or the substantially horizontal position in response to data collected from at least one of the camera, a proximity sensor, or the inertial measurement unit.

5. The robot of claim 1, further comprising: a support member operatively coupled to the body, the support member movable between (a) an extended position wherein the support member is configured to maintain a desired orientation of the camera relative to the surface during movement between the first location and the second location and (b) a storage position; wherein the support member has a proximal end adjacent the body, the proximal end comprising a first material, and detachable distal end comprising a second material different from the first material.

6. The robot of claim 5, wherein: the second material is selected to affect a center of gravity of the robot, whereby the body does not unintentionally flip when the robot decelerates.

7. The robot of claim 1, wherein the method comprises: determining the body is in an upside-down orientation relative to the surface; and causing the first wheel and the second wheel to rotate, whereby the body is caused to flip to a right-side-up orientation relative to the surface.

8. The robot of claim 1, wherein the method further comprises: causing the wheels to rotate, whereby the robot is moved between a first location and a second location different from and downward from the first location; calculating a positive pitch error of the body; determining the positive pitch error is indicative the body is approaching a flipping motion; and responsive to the determining, adjusting a rate of rotation of one or both wheels, whereby the positive pitch error is indicative the body is not approaching the flipping motion.

9. The robot of claim 1, wherein the method further comprises: causing the wheels to rotate, whereby the robot is moved between a first location and a second location different from the first location; causing the wheels to rotate such that the robot decelerates as it moves between the first location and the second location; calculating a positive pitch error of the body; determining the positive pitch error is indicative the body is approaching a flipping motion; and responsive to the determining, adjusting a rate of rotation of one or both wheels, whereby the positive pitch error is indicative the body is not approaching the flipping motion.

10. The robot of claim 1, comprising: means to couple to a charging station. The robot of claim 1, comprising: a mounting fixture. The robot of claim 1, comprising: a user interface. The robot of claim 1, comprising: a sound receiver.

14. A situational awareness system, comprising: the robot of claim 1; a charging station; and a retrieval tether.

15. The situational awareness system of claim 14, further comprising: at least one of a telescoping boom or a tripod.

16. The situational awareness system of claim 14, further comprising: a mounting fixture, the mounting fixture configured to removably couple the robot to the at least one of a telescoping boom or a tripod.

17. The situational awareness system of claim 14, further comprising: a launching device configured to propel the robot through air to the first location.

18. The situational awareness system of claim 17, wherein: the launching device comprises a spring actuator and a keyed barrel configured to guide the robot during a launching procedure.

19. The situational awareness system of claim 14, further comprising: a transportation kit, the transportation kit comprising a housing configured to house the robot in a first housing shell and a robot accessory in a second housing shell, the first housing shell and the second housing shell movable between an open configuration and a closed configuration, a first attachment means positioned and configured to detachably couple the housing to a user’s belt, a vehicle charger interface, and a second attachment means positioned and configured to detachably couple the housing to a user’s leg.

20. The situational awareness system of claim 19, wherein: the transportation kit further comprises a vehicle charging interface for charging the robot.