Mobile manipulation device

{
  "publication_number": "US11230000B2",
  "country": "US",
  "kind": "B2",
  "title": "Mobile manipulation device",
  "abstract": "The mobile manipulation device includes a base, a lift, an arm, and a manipulator. The base is able to move across a surface underneath the base. The lift is coupled to the base. The lift moves the arm vertically. The arm moves the manipulator horizontally along one direction. The base is able to move perpendicular to the one direction.",
  "claims": [
    "1. A mobile manipulation device, comprising: a unibody base comprising a first actuator and a second actuator, the first actuator and the second actuator configured to cause the mobile manipulation device to travel across a surface underneath the unibody base; a vertical mast directly affixed to the unibody base; an actuated coupling coupled to the vertical mast and including a fourth actuator, the actuated coupling configured to travel along the mast via actuation of a third actuator and including a receiving portion integrally formed within the actuated coupling; a telescoping arm including a proximal segment received within the receiving portion of the actuated coupling and at least one distal segment slidably engaged with and received within the proximal segment, wherein the telescoping arm extends or retracts horizontally with respect to the vertical mast via a flexible element coupled to the telescoping arm and extending between a first pulley wheel and a second pulley wheel, the second pulley wheel actuated via the fourth actuator configured in an inferior position relative to the flexible element and the first pulley wheel; a manipulator coupled to the at least one distal segment.",
    "2. The mobile manipulation device of claim 1, wherein the unibody base has two wheels that are driven.",
    "3. The mobile manipulation device of claim 2, wherein the unibody base includes one or more additional wheels, wherein the one or more additional wheels are not driven.",
    "4. The mobile manipulation device of claim 2, wherein the unibody base includes one or more additional wheels, wherein the one or more additional wheels are driven.",
    "5. The mobile manipulation device of claim 1, wherein the actuated coupling includes a belt-driven linear actuator.",
    "6. The mobile manipulation device of claim 5, wherein the belt-driven linear actuator includes a trapezoidal-shaped rail coupled to the vertical mast and a slider coupled to the trapezoidal-shaped rail.",
    "7. The mobile manipulation device of claim 6, wherein the telescoping arm is coupled to the slider.",
    "8. The mobile manipulation device of claim 1, wherein the telescoping arm extends horizontally using a series of linkages.",
    "9. The mobile manipulation device of claim 1, wherein the flexible element contains power and signal conductors used by the manipulator.",
    "10. The mobile manipulation device of claim 1, wherein the manipulator comprises one or more actuated joints for bending and rotating.",
    "11. The mobile manipulation device of claim 1, wherein the manipulator comprises an actuated grabber device.",
    "12. The mobile manipulation device of claim 11, wherein the manipulator comprises a coupler to receive the actuated grabber device.",
    "13. The mobile manipulation device of claim 12, wherein the coupler can alternatively receive one of a dexterous hand, a robotic wrist, a vacuum, a suction gripper, a dustpan, a duster, a wiping element, a scraper, a hook, a rotary tool, a mop, a mobile phone holder, a tablet holder, a brush, a writing instrument, an eating utensil, or a cloth.",
    "14. The mobile manipulation device of claim 11, wherein the actuated grabbing device includes a laser light source.",
    "15. The mobile manipulation device of claim 11, wherein the actuated grabbing device includes a bend sensor mounted on a spring of the actuated grabber device.",
    "16. The mobile manipulation device of claim 1, further comprising a first camera mounted at a top of the vertical mast facing towards the surface underneath the unibody base.",
    "17. The mobile manipulation device of claim 16, wherein the first camera includes a fisheye lens.",
    "18. The mobile manipulation device of claim 1, further comprising a second camera mounted on the arm facing towards the manipulator.",
    "19. The mobile manipulation device of claim 1, further comprising a third camera mounted on the manipulator facing towards a tool at an end of the manipulator.",
    "20. The mobile manipulation device of claim 1, wherein the mobile manipulation device is coupled via a network to a control system, the control system including a touchscreen video interface for a user to control the mobile manipulation device.",
    "21. The mobile manipulation device of claim 20, wherein the touchscreen video interface provides a grip force of the manipulator or a torque of any of the first actuator, the second actuator, the third actuator, or the fourth actuator as a color overlay atop regions of a video stream displayed via the touchscreen video interface.",
    "22. The mobile manipulation device of claim 21, wherein the regions of the video stream include an icon and a text tooltip displayed within the regions and each region corresponds to a control command configured to cause a joint of the mobile manipulation device to move in a predetermined sequence of movement or to cause the mobile manipulation device to move in an autonomous motion."
  ],
  "description_excerpt": "People with limited abilities often need an assistant for performing tasks around the home. For example, moving objects, feeding pets, cleaning up, etc., become very difficult tasks for people with difficulty walking around their home or picking up and carrying objects. Even for the able-bodied it would often be preferable to not have to perform some of these tasks, for example, when traveling, busy with work, relaxing, etc. Hiring an assistant to come into the home is expensive and can bring complications, for example introducing the possibilities of theft, employment law issues, etc. However, the world of humans is very messy and difficult for robots to navigate. Only the simplest home robots have shown themselves to be practical (e.g., robotic vacuum cleaners). This creates a problem where robots for more complicated tasks typically require very sophisticated technology, becoming more expensive than hiring a human assistant.\n\nVarious embodiments of the invention are disclosed in the following detailed description and the accompanying drawings. FIG. 1 is a block diagram illustrating an embodiment of a network system for mobile manipulation device control. FIG. 2 is a diagram illustrating an embodiment of a mobile manipulation device FIG. 3 is a diagram illustrating an embodiment of a base. FIG. 4 is a diagram illustrating an embodiment of a belt-driven linear actuator. FIG. 5 is a diagram illustrating an embodiment of a manipulator end. FIG. 6 is a diagram illustrating an embodiment of a manipulator end. FIG. 7 is a diagram illustrating an embodiment of a manipulator end. FIG.",
  "cpc": [
    "B25J 5/007",
    "B25J 11/008",
    "B25J 13/06",
    "B25J 15/0019",
    "B25J 15/0028",
    "B25J 15/0616",
    "B25J 15/08",
    "B25J 17/02",
    "B25J 19/023",
    "B25J 9/1656",
    "B25J 9/1664",
    "B25J 9/1689",
    "F16M 11/08",
    "F16M 11/18",
    "F16M 11/2021",
    "F16M 11/2092",
    "F16M 11/24",
    "F16M 11/42",
    "G05B 19/409",
    "G05B 2219/35472",
    "G05B 2219/39446",
    "G05B 2219/40298",
    "G06F 3/04815",
    "G06F 3/04817",
    "G06F 3/04847",
    "G06F 3/0488",
    "Y10S 901/01",
    "Y10S 901/02",
    "Y10S 901/31"
  ],
  "ipc": [
    "B25J 11/00",
    "B25J 13/06",
    "B25J 15/00",
    "B25J 15/06",
    "B25J 15/08",
    "B25J 17/02",
    "B25J 19/02",
    "B25J 5/00",
    "B25J 9/16",
    "F16M 11/08",
    "F16M 11/18",
    "F16M 11/20",
    "F16M 11/24",
    "F16M 11/42",
    "G05B 19/409",
    "G06F 3/0481",
    "G06F 3/0484",
    "G06F 3/0488"
  ],
  "assignees": [
    "GEORGIA TECH RES INST"
  ],
  "inventors": [
    "KEMP CHARLES CLARK",
    "CLEVER HENRY MANDUS"
  ],
  "filing_date": "2018-03-16",
  "publication_date": "2022-01-25",
  "grant_date": "2022-01-25",
  "priority_date": "2017-03-20",
  "application_number": "US-201815924052-A",
  "family_id": "63519969",
  "citations": [
    "CN206899277U",
    "US2009106993A1",
    "US2010036287A1",
    "US2012328395A1",
    "US2013310717A1",
    "US2014246258A1",
    "US2014277691A1",
    "US2015050111A1",
    "US2016121486A1",
    "US2018267690A1",
    "US4151534A",
    "US4636137A",
    "US5965827A",
    "US7048258B1",
    "US7824144B2",
    "US9150355B2",
    "US9789603B2"
  ]
}