Mobile robot with controllable film

Abstract

A method comprising: placing a polymer dispersed liquid crystal (PDLC) film in a first non-conductive state to conceal a viewing window into the interior of a container of a mobile robot, wherein a direct current (DC) waveform from a battery can be converted into a periodic current waveform that flows through at least one conductive layer of the PDLC film to switch the PDLC film to a second conductive state to make the viewing window into the container of the mobile robot at least partially transparent.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims benefit to the filing date of U.S. patent application Ser. No. 63 / 379,061, filed October 11, 2022, the disclosure of which is incorporated herein by reference in its entirety. The disclosed subject matter relates generally to the technical field of mobile robots and delivery systems, and, as a specific example, to a solution for selectively transparent windows on mobile robots. [Background technology]

[0002] Mobile delivery robots can be used to deliver small items or packages in a variety of situations. Examples include delivering items to small or remote areas such as garages or homes in rural areas, delivering small items to the top floors of office buildings, delivering meals to nursing homes, transporting dirty equipment and disposable items in hospitals, delivering meals and assisting with cleaning in cafeterias, and delivering packages in hotels and apartment buildings. Such robots can move in a variety of ways, such as along fixed or stationary paths, or paths that the robot can move along under its own power (e.g., wheels, tracks, etc.) or powered by an electric motor. Some delivery robots can provide navigation assistance for the robot. [Brief explanation of the drawings]

[0003] The drawings are not necessarily drawn to scale, but the same numerals in different drawings may describe similar elements. The same numerals with different letter suffixes may indicate different examples of similar elements. The drawings are exemplary, not limiting, and generally illustrate various examples discussed in this document. [Figure 1] 1 depicts a mobile robot according to some examples. [Figure 2]FIG. 1 is a block diagram illustrating a mobile robot according to some examples. [Figure 3] 1 is a schematic diagram of an environment in which multiple mobile robots are deployed at individual locations, according to some examples. [Figure 4] FIG. 2 is a block diagram illustrating one perspective for components and modules of the mobile robot of FIG. 1 according to some examples. [Figure 5] FIG. 2 is a block diagram illustrating another perspective on components and modules of the mobile robot of FIG. 1 according to some examples. [Figure 6] FIG. 2 is a block diagram illustrating a machine learning model system for use with the robot of FIG. 1, according to some examples. [Figure 7] 1 is a diagrammatic representation of a machine according to some examples. [Figure 8] FIG. 2 is a block diagram illustrating a software architecture according to some examples. [Figure 9] FIG. 1 is a block diagram illustrating a machine learning program according to some examples. [Figure 10] 1 is a schematic diagram of some example processing environments. [Figure 11] 1 is a flowchart illustrating a method for operating a mobile robot, according to some examples. DETAILED DESCRIPTION OF THE INVENTION

[0004] During mobile delivery of items by a mobile delivery robot, one or more items may be stored within the robot's chamber while being transported or until the intended recipient is identified. In one access method for such mobile delivery, an opaque door or window may be provided to close the chamber. Here, the opaque door can hide the contents stored within the mobile robot's chamber and allow the mobile robot to present the contents to the intended recipient only when the intended recipient is present in the intended delivery area. For example, the opaque door may be opened to visually present the stored items to one or more potential recipients. A problem with this access method is that in order to visually present the items, the items must also be physically presented for delivery to one or more potential recipients. Thus, either the stored items can be visually presented after the intended recipient is identified, or the stored items must be physically presented for delivery to one or more potential recipients before the intended recipient is identified. This can result in the stored items being unintentionally delivered to an unidentified recipient. Furthermore, this approach poses the difficulty that even if the intended recipient is correctly identified, it is not possible to verify (through visual identification) whether the item is the correct item before the identified intended recipient receives it.

[0005] Other access methods utilize transparent doors or windows to allow continued visual presentation of stored items and do not allow physical presentation without verification of the intended recipient. A problem with this access method arises when the chamber contains one or more sensitive or unsightly items (e.g., currency, valuables, dirty medical instruments, dirty dishes, etc.). Thus, a need remains for technology that allows selective viewing of such contents within a mobile delivery robot's chamber, regardless of whether the contents are physically presented for delivery to one or more potential recipients.

[0006] The present inventors have devised a method for including a selectively transparent viewing window for visually presenting an item in a sealed chamber without the need to physically present the item for communication. For example, the method can include obscuring the viewing window using a polymer dispersed liquid crystal (PDLC) film in a first, unpowered state. For example, a waveform modulator can be used to convert a direct current (DC) waveform from a battery installed in a mobile delivery robot into a periodic current waveform. For example, the periodic current waveform can include a pulsating direct current (PDC), an alternating current (AC) waveform, a square wave current, or a sine wave current. The periodic current waveform can be used to generate an electric field that can be used to temporarily align molecules or crystals in the PDLC film. For example, the periodic current waveform can be passed through at least one conductive layer of the PDLC film, causing the PDLC film to switch to a second powered state, thereby rendering the viewing window at least partially transparent.

[0007] The method can include authenticating the identity of a recipient of the deliverable item when the PDLC film switches to a second powered state. In some examples, the method can include opening a door of the mobile delivery robot to allow the authenticated recipient access to the receptacle. The authentication can also include receiving an access code through a user interface of the mobile delivery robot.

[0008] The method may further include transmitting the access code to the intended recipient user account. The method may further include determining whether the mobile delivery robot is located within a specified radius of the intended destination. And, based on determining, for example, using the location circuitry, that the mobile delivery robot is within the specified radius of the intended destination, the viewing window may be made at least partially transparent.

[0009] The method can include determining an intended destination for delivery of the deliverable item. The deliverable item can be transported to the intended destination, for example, via a drive train of a mobile delivery robot. In some examples, contents inside the mobile delivery robot can be displayed when the mobile delivery robot arrives at the intended destination.

[0010] Also disclosed is a mobile delivery robot that includes a container capable of storing deliverable items within the mobile delivery robot's container. The mobile delivery robot can include or use a viewing window that allows viewing of the interior of the container, the viewing window comprising a polymer dispersed liquid crystal (PDLC) film operable to switch between a first unpowered state and a second powered state. For example, in the first unpowered state, the viewing window is at least partially opaque or translucent to light in the visible spectrum. In the second powered state, the viewing window is at least partially transparent or more translucent than in the first unpowered state.

[0011] The mobile delivery robot may include or use a waveform modulator that converts a direct current (DC) waveform from a battery onboard the mobile robot into a periodic current waveform (e.g., pulsating direct current (PDC) or alternating current (AC)). In some examples, the mobile delivery robot may include or use an actuator that causes the periodic current waveform to flow through at least one conductive layer of the PDLC film, changing the PDLC film to a second conductive state.

[0012] Each of the non-limiting examples described herein may exist alone or may be combined with one or more of the other examples in various permutations or combinations.

[0013] FIG. 1 illustrates a mobile robot 104 according to some examples. The mobile robot 104 includes a housing 106 that houses various components and modules, including a power train system including wheels that allow the mobile robot 104 to propel itself within a service location. The mobile robot 104 may include one or more containers 110 that allow deliverable items to be stored within the containers of the mobile robot 104, and a viewing window 120 that allows viewing of the interior of the container. The viewing window 120 may be operable between a first, unpowered state (see the top panel of FIG. 1 ) and a second, powered state (see the bottom panel of FIG. 1 ). In some examples, the viewing window 120 may include a polymer dispersed liquid crystal (PDLC) film. The PDLC film may be substantially opaque to light in the first, unpowered state and optically transparent to light when the viewing window 120 is in the second, powered state. For example, the PDLC film may include liquid crystals immersed in substrates that have different alignment directions. For example, the liquid crystals may be planar aligned along the same plane but tilted at different angles. When a voltage is applied, the liquid crystals can be switched between a first alignment direction and a second alignment direction. When light passes through a liquid crystal film having a first alignment direction, the light is substantially scattered when it reaches the viewing window 120. The light is scattered by the liquid crystals, causing it to be blocked by the viewing window 120. When light passes through a liquid crystal film having a second alignment direction, the molecules in the liquid crystal film align, allowing the light to pass through substantially unscattered. When a voltage is applied to the PDLC film, the PDLC film can be controllably switched between an opaque state and a transparent state. In some examples, the film includes a conductive layer having a thickness of about 50 micrometers (μm) to about 200 μm. Thus, the viewing window 120 can be formed within a single layer of the PDLC film or one or more additional layers.

[0014] Although the operation of the viewing window 120 is generally discussed herein in relation to PDLC film, other materials can be used to conceal or reveal the viewing window as well. For example, the viewing window can include different types of liquid crystal films, such as polymer dispersed cholesteric liquid crystal (PDLC) or polymer network liquid crystal (PNLC) films. The viewing window can also include other materials, such as electrochromic materials and liquid crystal on silicon (LCOS) materials. The viewing window can also include other materials, such as polymer on silicon (POS) materials.

[0015] The mobile robot 104 may include or use a waveform modulator 160 to convert a direct current (DC) waveform from a battery 162 installed in the mobile robot 104 into a periodic current waveform. For example, the periodic current waveform may be a pulsating direct current (PDC) generated by an oscillator included in the waveform modulator 160. Alternatively, the periodic current waveform may be an alternating current (AC) waveform generated by an inverter included in the waveform modulator 160. The mobile robot 104 may further include an actuator 150 for causing the periodic current waveform to flow through at least one conductive layer of the PDLC film, thereby changing the PDLC film to a second conductive state. For example, the actuator 150 may include or use a micro-electromechanical system (MEMS) array that may be disposed within the housing 106. The MEMS array may include at least one MEMS device switch, such as a cantilevered metal spring coupled to at least one piezoelectric (PZT) actuator. Thus, when power is applied to the mobile robot 104, the MEMS device switch may switch a corresponding PZT actuator in the MEMS array between an electrically conducting state and a non-conducting state.

[0016] In some examples, the PDLC film may include or use a first protective layer, a first conductive layer, a liquid crystal matrix, a second conductive layer, and a second protective layer. When a voltage is applied to the first conductive layer and the second conductive layer, the first conductive layer and the second conductive layer act as capacitors, causing the liquid crystals of the liquid crystal matrix to align with the electric field generated by the first conductive layer and the second conductive layer. The first and second conductive layers may be coupled to a battery through a waveform modulator 160 and / or an actuator 150. Thus, when power is supplied to the mobile robot 104, the first and second conductive layers of the PDLC film may be switched, for example, by the corresponding actuator 150, causing the PDLC film to change to a second conductive state (B).

[0017] Applying a voltage to at least one conductive layer of a PDLC film to selectively display an item can help save energy when compared to mechanically opening and closing a door each time a stored item must be presented to a potential recipient. This can be a significant issue in power management for mobile robots, as the mobile robot must keep its battery charged in order to move to another location. For example, mechanically opening a door can require the consumption of approximately 0.005 watt-hours (Wh) of energy per display instance, while energizing the PDLC film for approximately 10 seconds requires the consumption of only approximately 0.003 Wh of energy.

[0018] In another example, the viewing window 120 can include or use at least one display, such as a light-emitting diode (LED) display, an organic light-emitting diode (OLED) display, an electroluminescent display, a liquid crystal display (LCD), an organic light-emitting transistor display, or an electronically conductive layer. Herein, the at least one display can be at least partially transparent when the display backlight is not illuminated and can be opaque when the display backlight is illuminated. The display can be configured so that the entire display is transparent, or can be configured to cover only the portion of the display that is intended to remain opaque. In another example, the viewing window 120 can include or use an operable curtain or blind. For example, a curtain can be activated to obscure the viewing window 120 without presenting the contents contained therein for communication.

[0019] The mobile robot 104 may further include multiple sensors, including external sensors for capturing information about the environment or location in which the mobile robot 104 may operate and self-sensing sensors for capturing information about the mobile robot 104 itself. Examples of external sensors include vision sensors (e.g., two-dimensional (2D), three-dimensional (3D), depth, and RGB cameras), light sensors, acoustic sensors (e.g., microphones or ultrasonic sensors), proximity sensors (e.g., infrared (IR) transceivers, ultrasonic sensors, photoresistors), tactile sensors, temperature sensors, and navigation and orientation sensors (e.g., GPS sensors). Visual odometry and visual simultaneous localization and mapping (SLAM) can assist the mobile robot 104 in both indoor and outdoor environments where lighting conditions can be maintained appropriately. 3D cameras, depth, and stereo vision cameras provide attitude (e.g., position and orientation) information. Examples of self-sensing sensors include inertial sensors (e.g., tilt and acceleration), accelerometers, gyroscopes, magnetometers, compasses, wheel encoders, and temperature sensors. The inertial measurement unit (IMU) in the mobile robot 104 may include a number of accelerometers and gyroscopes as well as magnetometers and barometers. The instantaneous attitude (e.g., position and orientation), velocity (linear velocity, angular velocity), acceleration (linear acceleration, angular acceleration), and other parameters of the mobile robot 104 can be obtained through the IMU.

[0020] FIG. 2 is a block diagram illustrating a mobile robot 104 according to some examples. The mobile robot 104 may include a drivetrain 270 that propels the mobile robot 104 to a desired location. The drivetrain 270 may include an electric motor, multiple gears, and multiple wheels coupled to the electric motor. The multiple gears may transmit the motion of the electric motor to the multiple wheels. The multiple wheels may provide traction so the mobile robot 104 can traverse an environment. The mobile robot 104 may further include a controller 250 that receives user input, analyzes the input, calculates an appropriate control strategy, and outputs appropriate control signals to operate the electric motor and multiple wheels. The controller 250 may include a central processing unit (CPU) that controls the operation of the robot 104. The CPU may include multiple processing elements used to perform tasks and one or more memory modules for storing information. A microprocessor may be the processing element within the CPU. The microprocessor may be a microcontroller or a microprocessor capable of emulating a microcontroller. The CPU may also include a digital signal processor (DSP). Additionally, the CPU may include or be embodied with a real-time operating system (RTOS), which is a specialized operating system that provides real-time and multitasking capabilities for computer systems with limited memory and / or computing resources.

[0021] The mobile robot 104 may include one or more onboard sensors 252. The sensors 252 may include, for example, a proximity sensor, a thermal imaging camera, an acoustic sensor, a camera, or an image sensor. For example, a proximity sensor included in the one or more sensors 252 may detect the presence of an object and provide the detected object as an input to the mobile robot 104. The proximity sensor may also provide a user with an indication of the proximity between the mobile robot 104 and one or more objects in the environment. The proximity sensor may be coupled to a CPU and provide the detected proximity as an input to the CPU. The one or more onboard sensors 252 may provide the mobile robot 104 with information about the distance to an object to aid in navigation of the mobile robot. At least one onboard sensor 252 may also provide the temperature of an item stored in the container 110. At least one onboard sensor 252 may also determine the type of item stored in the container 110.

[0022] The mobile robot 104 may also include or use a transceiver circuit 290 for receiving coordinates corresponding to an intended destination for delivery of the deliverable item. For example, the transceiver circuit 290 may be or include a radio frequency identification (RFID) reader. The transceiver circuit 290 may transmit the coordinates to the mobile robot 104 and may further include one or more RFID tags. The transceiver circuit 290 may also include or use a navigation system (e.g., a GPS sensor, a gyroscope, a linear accelerometer, a compass, an odometer) for navigation within a geographic location and sensors for capturing data corresponding to the geographic location and estimating a reference coordinate system (e.g., a reference coordinate system having X, Y, and Z axes). The estimated reference coordinate system may correspond to or be aligned with a previously captured geographic reference coordinate system.

[0023] In some examples, the transceiver circuitry can receive commands from a user or an automated robot coordination system that include an intended destination for delivery of a deliverable item. The transceiver circuitry can then transmit the intended delivery destination to one or more sensors 252 of the mobile robot 104. The mobile robot 104 can then move from a location corresponding to the currently determined geographic reference frame along a path to the intended destination. The mobile robot 104 can use a navigation algorithm to determine a predicted path based on commands from the automated robot coordination system or a user, which can be programmed into the controller 250. For example, commands from the automated robot coordination system or a user can specify a direction of travel and a travel speed. The commands can additionally specify an expected time to arrive at the delivery location. The arrival time can be calculated by a vehicle navigation algorithm. The automated robot coordination system can also additionally determine a location along the path that is at or closest to the delivery location. For example, commands can be generated or calculated by a robot steering algorithm that can determine a direction of travel and a speed of travel along a route.

[0024] The actuator 150 may include a waveform controller 262 communicatively coupled to the position circuitry such that a periodic current waveform flows through at least one conductive layer of the PDLC film when the mobile delivery robot reaches its intended destination. The waveform controller 262 may adjust the frequency and intensity of the periodic waveform signal to regulate the amount of energy transferred from the battery 162 to the PDLC film. The frequency may decrease as the mobile delivery robot approaches the desired destination. The periodic current waveform may be an alternating current (AC) waveform generated by an inverter (e.g., a component of a waveform modulator as illustrated in FIG. 1).

[0025] When the mobile delivery robot reaches its intended destination, the waveform controller 262 can cause a periodic waveform signal to flow toward the PDLC film through at least one conductive layer of the PDLC film. Upon delivery of a desired amount of energy, such as DC energy or AC energy, the waveform controller 262 can adjust the frequency of the periodic current waveform to reduce the possibility of electric shock or other side effects.

[0026] The mobile robot 104 may further include an authentication circuit 280 for identifying the intended recipient of a deliverable item or a user account associated with the intended recipient. For example, the authentication circuit 280 may be or may include a transponder (e.g., an RFID tag). In some examples, the authentication circuit 280 may provide a signal to the transceiver circuit 290 when the recipient picks up the item. The authentication circuit may also be communicatively coupled to an authentication system. For example, the authentication system may generate or receive an authentication code, and the authentication circuit may provide the authentication code to the intended recipient. After receiving the authentication code, the recipient may present the authentication code to confirm that the delivery is authorized. For example, the authentication system may store a database containing codes to be used for delivery recipients. In this example, the authentication circuit 280 may transmit the authentication code to the database (e.g., the authentication circuit 280 may act as a query). In this example, the recipient may use the received authentication code to search the database for the authentication code. In some examples, the authentication circuit 280 may be communicatively coupled to a user interface to receive an access code. In some examples, the robot 104 may include a transceiver circuit 290 for transmitting the access code to the intended recipient user account.

[0027] In another example, the user account associated with the intended recipient is associated with an Internet Protocol (IP) address (e.g., IP phone, IP camera, etc.). The authentication circuitry 280 is communicatively coupled to the user's cellular network and can receive the IP address. In this example, the IP address can be provided in response to a request by the mobile robot 104 to access a web page associated with the IP address.

[0028] In another example, the user account associated with the intended recipient is associated with a network-coupled device. For example, the authentication circuitry 280 may be communicatively coupled to a network-coupled device (e.g., a wireless device (WLD) coupled to a cellular network, a wireless local area network (WLAN), a wired local area network (LAN), etc.). The authentication circuitry 280 may receive an IP address associated with the user account of the wireless device. Herein, the wireless device may include a user interface that allows the recipient of the IP address to access a web page associated with the IP address. For example, the user interface may be a touchscreen display. As another example, the web page may include the IP address, the recipient's username, and a corresponding password for authenticating the recipient.

[0029] The controller 250 may activate one or more functions conditional on authentication of the intended recipient through the authentication circuitry 280. For example, the controller 250 may be communicatively coupled to an openable door or window of the mobile robot 104 to physically present a stored item to the intended recipient upon successful authentication of the intended recipient. Additionally, the controller 250 may selectively activate a viewing window 220 (e.g., corresponding to the viewing window 120 illustrated in FIG. 1) by applying a voltage to the PDLC film to visually present a stored item upon successful authentication of the intended recipient.

[0030] FIG. 3 is a schematic diagram of an environment in which multiple mobile robots 104 (e.g., a fleet of service robots) are deployed in individual locations 102 or environments, such as a cafeteria, hospital, or elderly care facility, according to some examples. Depending on the location, the mobile robots 104 can perform any one of a number of functions within the location 102. If such a location 102 is a service location, such as a cafeteria, the mobile robot 104 can assist in delivering items from the kitchen to tables in the particular cafeteria and transport dishes, trash, etc. from the tables to the kitchen again. In another example, if such a location 102 is a medical facility, such as a hospital, the mobile robot 104 can be deployed to perform functions such as, but not limited to, delivering medications to hospital wards, clearing waste from operating rooms, and retrieving surgical tools and supplies from a supply storeroom. As yet another example, if such a location 102 is a nursing home or elderly care home, such as an assisted living facility, the mobile robot 104 can perform functions such as, but not limited to, retrieving items from a storeroom and dispensing food and medicine. Each mobile robot 104 is communicatively coupled by a network 306 or multiple networks 306 to a cloud service 310 residing on one or more server systems 308. The mobile robots 104 can activate individual perspective windows 120 (as shown in FIG. 1 ) based on a particular use case or based on their current location 102.

[0031] Illustrative use cases for mobile delivery devices For general delivery, it is preferable to display the contents to help advertise or demonstrate the functionality and usefulness of the robot, thereby demonstrating the usefulness of the mobile robot in its ability to perform various tasks.

[0032] For personal packages and dirty luggage, it is preferable to prevent people from seeing what the robot is carrying. For example, if the robot is delivering medicine, legal / financial documents, dirty dishes or trash, the viewing window will be opaque.

[0033] In a healthcare environment, the mobile robot is used to make deliveries at location 102, where location 102 is a nursing home. For deliveries such as parcels, the viewing window will be transparent. For deliveries of medication from an on-site pharmacy, the viewing window will be opaque.

[0034] In a restaurant environment, when a robot is used in a serving role, it may be desirable to advertise food and drink while ensuring delivery and maintaining a hygienic appearance within the restaurant environment. In this case, the mobile robot may have a transparent viewing window.

[0035] Also, in a dining environment, when the robot is used in a bussing role, it may be desirable to hide the bath tub of dirty dishes in the dining room, in which case the mobile robot would hide the viewing window.

[0036] In a hotel environment, a mobile robot may include or use multiple containers (e.g., multiple containers 110 as shown in FIG. 1). A single container 110 may include one or more partitions to define, for example, multiple compartments. In some examples, multiple guests at a hotel may request room service and request different items, such as extra towels or extra toiletries. Room service places the items requested by different guests in different containers or compartments. Here, when the mobile robot arrives at a guest room, the robot makes the smart film for the corresponding compartment transparent and the remaining compartments opaque. The customer is then notified that their item has arrived. The customer opens the door and views their item in the robot's compartment, thereby understanding why the robot has arrived and which compartment they need to retrieve their item from. For example, delivery using a selectively changeable viewing window may help customers receive their item, as showing the item in the robot's compartment may be more intuitive for customers than a message or indicator light.

[0037] Additionally, in a hotel environment, a mobile robot can be sent to deliver a package to a customer, such as a hotel guest. Before the robot opens the door, it turns on the smart film for the corresponding compartment and asks the customer to verify that the contents match what they ordered. This step allows the customer to verify that the package was placed in the correct compartment. The guest cannot access the package until they verify that it is the correct package. This can also be useful for ensuring that guests only view individual robot compartments.

[0038] 4 is a block diagram illustrating one aspect of the components and modules of a mobile robot 104, according to some examples. The mobile robot 104 includes a robotics open platform 402, a navigation stack 404, and a robotics controller 430. The robotics open platform 402 can provide one or more application program interfaces (APIs), such as a device API 406, a diagnostics API 408, a robotics API 410, a data API 412, and a swarm API 414. The navigation stack 404 includes components that support, for example, perception 416, P2P navigation 418, semantic navigation 420, sensor compensation 422, sensor processing 424, and obstacle avoidance 426. A ROS navigation stack 428 also forms part of the navigation stack 404. The robotics controller 430 includes components that support power management 432, wireless charging 434, a device interface 436, and motor control (or motor interface) 438.

[0039] 5 is a block diagram illustrating another view of the components and modules of the mobile robot 104, according to some examples. The mobile robot 104 includes a robotics stack 502 and an application stack 506. The robotics stack 502 in turn includes a perception stack 504 and a navigation stack 404. The application stack 506 provides telemetry 508 and login 510 services for the mobile robot 104.

[0040] 6 is a block diagram illustrating a model system 602 that operates to generate and maintain image position models 604 that are deployed to various mobile robots 104 at one or more locations 102, according to some examples. The model system 602 can include one or more components or modules, such as, for example, a data collection and preparation module 606, a model training and evaluation module 608, a model deployment module 610, and a model refresh module 612. Models, such as the image position models generated or deployed by the model system 602, can be machine learning models generated by, for example, a machine learning (ML) program as illustrated in FIG.

[0041] FIG. 7 is a diagrammatic representation of a machine 700 upon which instructions 710 (e.g., software, programs, applications, applets, apps, or other executable code) may be executed, causing the machine 700 to perform any one or more of the methodologies discussed herein, by way of example only. For example, the instructions 710 may cause the machine 700 to perform any one or more of the methods described herein. The instructions 710 transform a general, unprogrammed machine 700 into a specific machine 700 programmed to perform the functions described and illustrated in the manner described. The machine 700 may operate as a stand-alone device or may be coupled (e.g., networked) to other machines. In a networked deployment, the machine 700 may operate in the capacity of a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. Machine 700 may include, but is not limited to, a server computer, client computer, personal computer (PC), tablet computer, laptop, netbook, set-top box (STB), entertainment media system, cellular phone, smartphone, mobile device, wearable device (e.g., smart watch), smart home device (e.g., smart appliance), other smart device, web appliance, network router, network switch, network bridge, or any machine capable of sequentially or separately executing instructions 710 that specify operations to be performed by machine 700. Also, although a single machine 700 is illustrated, the term "machine" may include a collection of machines that individually or collectively execute instructions 710 to perform any one or more of the methodologies discussed herein.

[0042] Machine 700 may include processor 704, memory 706, and I / O components 702, which may be configured to communicate over a bus 740. In some examples, processor 704 (e.g., a central processing unit (CPU), a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a radio-frequency integrated circuit (RFIC), or other processor, or any suitable combination thereof) may include, for example, processor 708 and processor 712 that execute instructions 710. The term "processor" is intended to include multi-core processors that may include two or more independent processors (sometimes referred to as "cores") that can execute instructions simultaneously. While FIG. 7 illustrates multiple processors 704, machine 700 may include a single processor with a single core, a single processor with multiple cores (e.g., a multi-core processor), multiple processors with a single core, multiple processors with multiple cores, or any combination thereof.

[0043] Memory 706 includes main memory 714, static memory 716, and storage unit 718, all of which are accessible to processor 704 via bus 740. Main memory 706, static memory 716, and storage unit 718 store instructions 710 that embody any one or more of the methodologies or functions described herein. Instructions 710 may also reside, in whole or in part, within main memory 714, within static memory 716, within storage unit 718, within machine-readable medium 720, within processor 704 (e.g., within the processor's cache memory), or any suitable combination thereof, during execution by machine 700.

[0044] The I / O components 702 may include various components for receiving input, providing output, generating output, transmitting information, exchanging information, or capturing measurements. The specific I / O components 702 included in a particular machine vary depending on the type of machine. For example, a portable machine such as a cell phone may include a touch input device or other such input mechanism, while a headless server machine likely does not include such a touch input device. The I / O components 702 may include many other components not shown in FIG. 7 . In various examples, the I / O components 702 may include an output component 726 and an input component 728. The output component 726 may include a visual component (e.g., a display such as a plasma display panel (PDP), a light-emitting diode (LED) display, a liquid crystal display (LCD), a projector, or a cathode ray tube (CRT)), an audio component (e.g., a speaker), a tactile component (e.g., a vibration motor, a resistance mechanism), or other signal generator. The input components 728 may include alphanumeric input components (e.g., a keyboard, a touchscreen configured to receive alphanumeric input, a photo-optical keyboard, or other alphanumeric input component), point-based input components (e.g., a mouse, touchpad, trackball, joystick, motion sensor, or other pointing instrument), tactile input components (e.g., physical buttons, a touchscreen that provides the position and / or force of a touch or touch gesture, or other tactile input component), audio input components (e.g., a microphone), etc.

[0045] As a further example, I / O component 702 can include a biometric component 730, a motion component 732, an environmental component 734, or a position component 736, among various other components. For example, biometric component 730 includes components that detect facial expressions (e.g., hand expressions, facial expressions, vocal expressions, body movements, or eye tracking), measure biosignals (e.g., blood pressure, heart rate, body temperature, sweat, or brain waves), or identify people (e.g., voice identification, retinal identification, facial identification, fingerprint identification, or brainwave-based identification). Motion component 732 includes an acceleration sensor component (e.g., an accelerometer), a gravity sensor component, and a rotation sensor component (e.g., a gyroscope). The environmental components 734 may include, for example, one or more cameras, light sensor components (e.g., a photometer), temperature sensor components (e.g., one or more thermometers for detecting ambient temperature), humidity sensor components, pressure sensor components (e.g., a barometer), acoustic sensor components (e.g., one or more microphones for detecting background noise), proximity sensor components (e.g., an infrared sensor for detecting surrounding objects), gas sensors (e.g., a gas detection sensor for detecting concentrations of harmful gases or measuring airborne pollutants for safety purposes), or other components capable of providing indicators, measurements, or signals corresponding to the surrounding physical environment. The location components 736 may include, for example, a location sensor component (e.g., a GPS receiver component), an altitude sensor component (e.g., an altimeter or barometer for detecting air pressure from which altitude can be derived), an orientation sensor component (e.g., a magnetometer), etc.

[0046] Communications may be implemented using a variety of technologies. The I / O component 702 further includes a communications component 738 operable to couple the machine 700 to the network 722 or the device 724 through a respective connection or linkage. For example, the communications component 738 may include a network interface component or other suitable device for interfacing with the network 722. By way of further example, the communications component 738 may include a wired communications component, a wireless communications component, a cellular communications component, a Near Field Communication (NFC) component, a Bluetooth component (e.g., Bluetooth Low Energy), a flash memory driver, a serial communications driver (e.g., a Universal Serial Bus (USB) driver), a Wi-Fi component, and other communications components for providing communications through other modalities. The device 724 may be another machine or any of a variety of peripheral devices (e.g., a peripheral device coupled via USB).

[0047] The communication component 738 may also include a component operable to detect or detect an identifier. For example, the communication component 738 may include a Radio Frequency Identification (RFID) tag reader component, an NFC smart tag detection component, an optical reader component (e.g., an optical sensor for detecting one-dimensional barcodes such as Universal Product Code (UPC) barcodes, multidimensional barcodes such as Quick Response (QR) code, Aztec code, Data Matrix, Data glyph, Maxi Code, PDF417, Ultra Code, UCC RSS-2D barcodes, and other optical codes), or an acoustic detection component (e.g., a microphone for identifying tagged audio signals). A variety of information may also be derived via the communication component 738, such as location through Internet Protocol (IP) geolocation, location through Wi-Fi signal triangulation, or location through detection of NFC beacon signals that can indicate a specific location.

[0048] Various memories (e.g., main memory 714, static memory 716, and / or memory of processor 704) and / or storage unit 718 can store one or more sets of instructions and data structures (e.g., software) implemented or used in any one or more of the methodologies or functions described herein. When executed by processor 704, such instructions (e.g., instructions 710) cause various operations to be performed to implement the disclosed embodiments.

[0049] The instruction 710 may be transmitted or received over the network 722 using a transmission medium through a network interface device (e.g., a network interface component included in the communications component 738) and using any one of a variety of well-known transmission protocols (e.g., Hypertext Transfer Protocol (HTTP)). Similarly, the instruction 710 may be transmitted or received over a transmission medium through a connection (e.g., a peer-to-peer connection) to the device 724.

[0050] 8 is a block diagram 800 illustrating a software architecture 804 that may, in some examples, be implemented in any one or more of the devices described herein. The software architecture 804 is supported by hardware, such as a machine 802 that includes a processor 820, memory 826, and / or I / O components 838. In this example, the software architecture 804 may, in some examples, be conceptualized as a stack of layers, with each layer providing a specific function. The software architecture 804 includes layers such as an operating system 812, libraries 810, frameworks 808, and applications 806. Operationally, the applications 806 invoke API calls 850 through the software stack and receive messages 852 in response to the API calls 850.

[0051] The operating system 812 manages hardware resources and provides common services. The operating system 812 includes, for example, a kernel 814, services 816, and drivers 822. The kernel 814 serves as an abstraction layer between the hardware and other software layers. For example, the kernel 814 provides memory management, processor management (e.g., scheduling), component management, networking, and security configuration, among other functions. The services 816 may provide other common services for the other software layers. The drivers 822 are responsible for controlling or interfacing with the underlying hardware. For example, the drivers 822 may include a display driver, a camera driver, a BLUETOOTH® or BLUETOOTH® Low Energy driver, a flash memory driver, a serial communications driver (e.g., a Universal Serial Bus (USB) driver), a Wi-Fi® driver, an audio driver, and a power management driver.

[0052] The libraries 810 provide low-level common infrastructure used by the applications 806. The libraries 810 may include system libraries 818 (e.g., the C standard library) that provide functions such as memory allocation functions, string manipulation functions, mathematical functions, etc. The libraries 810 may also include API libraries 824 such as a media library (e.g., a library for supporting the display and manipulation of various media formats such as Moving Picture Experts Group-4 (MPEG4), Advanced Video Coding (AVC) or H.264, Moving Picture Experts Group Layer-3 (MP3), Advanced Audio Coding (AAC), Adaptive Multi-Rate (AMR) audio codec, Joint Photographic Experts Group (JPEG) or JPG, or Portable Network Graphics (PNG)), a graphics library (e.g., an OpenGL framework used to render graphical content on a display in two dimensions (2D) and three dimensions (3D)), a database library (e.g., SQLite for providing various relational database functions), a web library (e.g., Web Kit for providing web browsing functions), etc. The library 810 may also include a variety of other libraries 828 to provide many other APIs to the application 806 .

[0053] The framework 808 provides a high-level common infrastructure used by the applications 806. For example, the framework 808 provides various graphical user interface (GUI) features, high-level resource management, and high-level location services. The framework 808 may, in some instances, provide a wide range of other APIs that may be used by the applications 806, some of which may be specific to a particular operating system or platform.

[0054] In some examples, the applications 806 may include a wide variety of other applications, such as a home application 836, a contacts application 830, a browser application 832, a book reader application 834, a location application 842, a media application 844, a messaging application 846, a game application 848, and third-party applications 840. The applications 806 are programs that perform programmatically defined functions. In some examples, various programming languages ​​structured in various ways, such as object-oriented programming languages ​​(e.g., Objective-C, Java, or C++) or procedural programming languages ​​(e.g., C or assembly language), may be used to generate one or more of the applications 806. In certain examples, third-party applications 840 (e.g., applications developed for Android by entities other than the vendor of a particular platform) may be used. TM or IOS TM Applications developed using the Software Development Kit (SDK) are TM , ANDROID TM , WINDOWS Phone, or other mobile operating system. In this example, the third party application 840 can invoke API calls 850 provided by the operating system 812 to implement the functionality described herein.

[0055] 9 is a block diagram illustrating some example machine learning programs 900. The machine learning programs 900, also referred to as machine learning algorithms or tools, are used as part of the systems described herein to perform tasks related to searching and query response.

[0056] Machine learning is a field of study that gives computers the ability to learn without being explicitly programmed. Machine learning explores the study and construction of algorithms, also referred to herein as tools, that can learn from or be trained using existing data and make predictions about or based on new data. Such machine learning tools operate by building models from example training data 908 to make data-based predictions or decisions, which are expressed as outputs or ratings (e.g., ratings 916). Although examples have been presented with respect to some machine learning tools, the principles presented herein may be applied to other machine learning tools.

[0057] In some examples, different machine learning tools may be used, such as Logistic Regression (LR), Naive-Bayes, Random Forest (RF), Neural Network (NN), Matrix Decomposition, and Support Vector Machine (SVM) tools.

[0058] Two common types of problems in machine learning are classification problems and regression problems. Classification problems, also known as categorization problems, aim to classify an item into one of several category values ​​(e.g., is this object an apple or an orange?). Regression algorithms aim to quantify some item (e.g., by providing a value that is a failure).

[0059] The machine learning program 900 supports two types of phases: a training phase 902 and a prediction phase 904. The training phase 902 can use supervised learning, unsupervised learning, or reinforcement learning. For example, the machine learning program 900 (1) receives features 906 (e.g., as structured or labeled data for supervised learning) or (2) identifies features 906 in training data 908 (e.g., unstructured or unlabeled data for unsupervised learning). In the prediction phase 904, the machine learning program 900 uses the features 906 to analyze query data 912 and generate results or predictions as examples of evaluations 916.

[0060] During the training phase 902, feature engineering is used to identify features 906, which may include identifying useful, discriminatory, and independent features for the effective operation of the machine learning program 900 in pattern recognition, classification, and regression. In some examples, the training data 908 includes pre-identified features 906 and labeled data, which is known data for one or more outcomes. Each feature 906 may be a variable or attribute, such as a discrete, measurable characteristic of a process, article, system, or phenomenon represented in the dataset (e.g., training data 908). The features 906 may also be of different types, such as numeric features, strings, and graphs, and may include, for example, one or more of content 918, concepts 920, attributes 922, historical data 924, and / or user data 926.

[0061] During the training phase 902 , the machine learning program 900 uses training data 908 to look for correlations between features 906 that affect predicted outcomes or scores 916 .

[0062] Using the training data 908 and the identified features 906, the machine learning program 900 is trained during the training phase 902 at machine learning program training 910. The machine learning program 900 evaluates the value of the features 906 by correlating them with the training data 908. The result of the training is a trained machine learning program 914 (e.g., a trained or learned model).

[0063] Alternatively, the training stage 902 may involve machine learning, where the training data 908 is structured (e.g., labeled during a preprocessing operation) and the trained machine learning program 914 implements a relatively simple neural network 928 that can perform, for example, classification and clustering tasks. In another example, the training stage 902 may involve deep learning, where the training data 908 is unstructured and the trained machine learning program 914 implements a deep neural network 928 that can perform all of the feature extraction and classification / clustering tasks.

[0064] The neural network 928 created during the training phase 902 and embodied within the trained machine learning program 914 may include a hierarchical (e.g., layered) organization of neurons. For example, neurons (or nodes) may be arranged hierarchically in multiple layers, including an input layer, an output layer, and multiple hidden layers. A layer within the neural network 928 may have one or multiple neurons, which dynamically compute a small function (e.g., an activation function). For example, if the activation function produces a result that exceeds a certain critical value, an output may be transmitted from that neuron (e.g., a sending neuron) to a connected neuron (e.g., a receiving neuron) in a successive layer. Connections between neurons also have associated weights that define the influence of the input from the sending neuron to the receiving neuron.

[0065] In some examples, the neural network 928 may also be one of many different types of neural networks, including, for example, a single-layer feed-forward network, an artificial neural network (ANN), a recurrent neural network (RNN), a symmetrically connected neural network and an unsupervised pre-trained network, a convolutional neural network (CNN), or a recursive neural network (RNN).

[0066] During the prediction stage 904, a trained machine learning program 914 is used to perform the evaluation. Query data 912 is provided as input to the trained machine learning program 914, which generates an evaluation 916 as output in response to receiving the query data 912.

[0067] Referring again to FIG. 10, a schematic diagram of a processing environment 1000 is shown including a processor 1002, a processor 1006, and a processor 1008 (eg, a GPU, a CPU, or a combination thereof).

[0068] The processor 1002 is coupled to a power supply 1004 and is shown as including the following modules (either permanently configured or temporarily instantiated): a data collection and preparation module 606, a model training and evaluation module 608, a model deployment module 610, and a model refresh module 612.

[0069] FIG. 11 is a flowchart illustrating a method for operating a mobile robot 104 according to some examples. In some examples, at operation 1110, the method may include hiding a viewing window of the robot through a polymer dispersed liquid crystal (PDLC) film in a first, unpowered state. At operation 1120, the method may include converting a direct current (DC) waveform from a battery installed in the mobile delivery robot into a periodic current waveform through a waveform modulator. For example, such conversion may be performed through an oscillator (to convert the DC waveform to a PDLC waveform) or an inverter (to convert the DC waveform to an alternating current (AC) waveform). At operation 1130, the method may include causing the periodic current waveform to flow through at least one conductive layer of the PDLC film, thereby switching the PDLC film to a second powered state and at least partially transparentizing the viewing window. By causing the periodic current waveform to flow through at least one conductive layer of the PDLC film, deliverable items within the receptacle may be displayed through the viewing window. The method may also include interrupting the periodic current waveform in at least one conductive layer of the PDLC film to return or maintain the PDLC film in a first non-conductive state. For example, the hiding or revealing may be performed based on the acquired position coordinates. For example, the method may include determining an intended destination type for the mobile delivery robot. The method may also include initiating a process to at least partially transparent the viewing window based on the intended destination type. In some examples, the method may include transporting the deliverable item to the intended destination via a drivetrain of the mobile delivery robot.

[0070] In some examples, the method may include authenticating the user, for example, after the PDLC film is switched to a second powered state. Similar authentication may be performed before the PDLC film is switched to the second powered state, and such switching may occur conditionally upon authentication. For example, the method may include transmitting an access code to an intended recipient user account associated with the user. For example, the method may include generating an access code corresponding to the intended recipient user account before transmission. Authentication may also include receiving the access code through a user interface of the mobile delivery robot. Additionally, once the intended recipient user account is authenticated, a door of the mobile delivery robot may be opened, for example, to allow the authenticated recipient access to the receptacle.

[0071] A similar authentication method may be performed conditionally when the mobile delivery robot is determined to be within a specified radius of the intended destination. Also, once the mobile delivery robot is determined to be within a specified radius of the intended destination, a process may be initiated to cause the viewing window to become at least partially transparent. This may be useful for visually presenting stored items to the intended recipient without the mobile robot physically presenting the items upon arrival, and for requesting verification of the intended recipient prior to physical presentation.

[0072] Examples and References The following non-limiting examples detail certain aspects of the present invention that solve the problems discussed herein and provide other advantages.

[0073] Example 1 is a method for operating a mobile robot having a storage section for storing deliverable items and a viewing window into the storage section, comprising the steps of: hiding the viewing window through a polymer dispersed liquid crystal (PDLC) film in a first non-energized state; converting a direct current (DC) waveform from a battery installed in the mobile robot into a periodic current waveform through a waveform modulator; and switching the PDLC film to a second energized state so that the periodic current waveform flows through at least one conductive layer of the PDLC film, thereby making the viewing window at least partially transparent.

[0074] In Example 2, in Example 1, the waveform modulator includes an oscillator and the periodic current waveform includes a pulsating direct current (PDC).

[0075] In Example 3, any of Examples 1 and 2, wherein the waveform modulator includes an inverter and the periodic current waveform includes an alternating current (AC) waveform.

[0076] In Example 4, in any of Examples 1 to 3, the method further includes, when the PDLC film switches to the second powered state, authenticating the identity of a recipient of the deliverable item; and opening a door of the mobile robot to allow the authenticated recipient access to the storage section.

[0077] In Example 5, in Example 4, the authenticating step includes receiving an access code through a user interface of the mobile robot.

[0078] In Example 6, the method further includes transmitting the access code to an intended recipient user account.

[0079] In Example 7, in any of Examples 1-6, the method further includes generating an access code corresponding to the intended recipient user account.

[0080] In Example 8, in any of Examples 1-7, the method further includes determining whether the mobile robot is within a specified radius of an intended destination; and initiating a process of making the viewing window at least partially transparent based on a determination that the mobile robot is within a specified radius of the intended destination.

[0081] In Example 9, in any of Examples 1 to 8, the method further includes determining an intended destination for delivery of the deliverable item; and transporting the deliverable item to the intended destination via a drivetrain of the mobile robot, wherein a display is performed when the mobile robot arrives at the intended destination.

[0082] Example 10 is a mobile robot including: a container for storing deliverable items within the mobile robot; a viewing window for viewing the interior of the container, the viewing window including a polymer dispersed liquid crystal (PDLC) film operable to switch between a first, non-powered state in which the viewing window is opaque and a second, powered state in which the viewing window is transparent; a waveform modulator for converting a direct current (DC) waveform from a battery mounted on the mobile robot into a periodic current waveform; and an actuator for causing the periodic current waveform to flow through at least one conductive layer of the PDLC film, thereby changing the PDLC film to the second powered state.

[0083] In Example 11, in Example 10, the waveform modulator includes an oscillator and the periodic current waveform includes a pulsating direct current (PDC).

[0084] In Example 12, any of Examples 10 and 11, wherein the waveform modulator includes an inverter and the periodic current waveform includes an alternating current (AC) waveform.

[0085] In Example 13, in any of Examples 10 to 12, the mobile robot further includes an authentication circuit for determining the identity of a recipient of the deliverable item when the PDLC film switches to the second powered state, and the authentication circuit is communicatively coupled to a door of the mobile robot such that the mobile robot operates the door upon authentication of the authenticated recipient.

[0086] In example 14, in example 13, the authentication circuitry is communicatively coupled to the user interface to receive an access code.

[0087] In Example 15, in Example 14, the mobile robot further includes transceiver circuitry for transmitting the access code to an intended recipient user account.

[0088] In Example 16, any of Examples 10-15, the mobile robot further includes: position circuitry for determining whether the mobile robot is within a specified radius of an intended destination; and a waveform controller communicatively coupled to the position circuitry for causing the viewing window to become at least partially transparent based on a determination that the mobile robot is within a specified radius of the intended destination.

[0089] In Example 17, in any of Examples 10-16, the mobile robot further includes a drive train for moving the robot toward an intended destination; and transceiver circuitry for receiving coordinates corresponding to an intended destination for delivery of a deliverable item, and the actuator includes a waveform controller communicatively coupled to position circuitry to cause the periodic current waveform to flow through at least one conductive layer of the PDLC film when the mobile robot reaches the intended destination.

[0090] Example 18 is a method for operating a mobile robot having a storage section for storing deliverable items and a viewing window into the storage section, including the steps of: hiding the deliverable items through a display panel selectively operable to display or hide the deliverable items in the storage section without opening the storage section; acquiring position coordinates of the mobile robot; and operating the display panel through electrical signals communicatively coupled to the display panel to display the deliverable items - the display step being performed based on the acquired position coordinates matching delivery coordinates.

[0091] Example 19 is a method for operating a mobile robot having a storage section for storing deliverable items and a viewing window into the storage section, comprising the steps of: hiding the viewing window through a polymer dispersed liquid crystal (PDLC) film in a first non-powered state; converting a direct current (DC) waveform from a battery installed in the mobile robot into a periodic current waveform through a waveform modulator; making the viewing window at least partially transparent by switching the PDLC film to a second powered state so that the periodic current waveform flows through at least one conductive layer of the PDLC film; determining an intended destination type of an intended destination of the mobile robot; and initiating a process of making the viewing window at least partially transparent based on the intended destination type.

[0092] In Example 20, in Example 19, the waveform modulator includes an oscillator and the periodic current waveform includes pulsating direct current (PDC).

[0093] In Example 21, any of Examples 19 and 20, the waveform modulator includes an inverter, and the periodic current waveform includes an alternating current (AC) waveform.

[0094] In Example 22, in any of Examples 19 to 21, the method further includes, when the PDLC film switches to the second powered state, authenticating the identity of a recipient of the deliverable item; and opening a door of the mobile robot to allow the authenticated recipient access to the storage section.

[0095] In Example 23, in Example 22, the authenticating step includes receiving an access code through a user interface of the mobile robot.

[0096] In Example 24, in Example 23, the method further includes transmitting the access code to an intended recipient user account.

[0097] In Example 25, in any of Examples 19-24, the method further includes generating an access code corresponding to the intended recipient user account.

[0098] In Example 26, any of Examples 19-25, the method further comprising transporting the deliverable item to the intended destination via a drivetrain of the mobile robot.

[0099] Example 27 is a mobile robot including a container for storing deliverable items within the mobile robot; and a viewing window for viewing the interior of the container, the viewing window operable between two states including a first state in which the viewing window is opaque and a second state in which the viewing window is transparent.

[0100] Example 28 is at least one machine-readable medium containing instructions that, when executed by a processing circuit, cause the processing circuit to perform operations that embody any of Examples 1-27.

[0101] Example 29 is a device including means for realizing any of Examples 1 to 27.

[0102] Example 30 is a system that embodies any one of Examples 1 to 27.

[0103] Example 31 is a method for implementing any one of Examples 1 to 27.

[0104] The above detailed description may include references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of example, specific examples in which the invention may be practiced. Such examples may include elements other than those shown or described. However, the inventors also contemplate examples in which only those elements shown or described are provided. The inventors also contemplate examples using any combination or permutation of the elements shown or described (or one or more aspects thereof) in connection with a particular example (or one or more aspects thereof) or in connection with any other example (or one or more aspects thereof) shown or described herein.

[0105] In the event of a conflict in usage between this document and any document incorporated by reference, the usage in this document shall control. In this document, the terms "comprising" and "in which" are used in the ordinary English manner corresponding to the respective terms "comprising" and "in which." Also, in the following claims, the term "comprising" is open-ended, i.e., a system, device, article, composition, formula, or process that may include elements other than the elements recited preceding such term in the claim is still deemed to be within the scope of that claim.

[0106] As used herein, the singular terms "a," "an," "the," and "the" are used to include one or more, as commonly used in patent documents, regardless of any other instances or usages of "at least one" or "one or more." As used herein, the term "or," unless otherwise indicated, is used to mean non-exclusive, or such that "A or B" can include "A but not B," "B but not A," and "A and B." As used herein, the terms "comprises" and "in which" are plain English equivalents of the individual terms "including" and "in which." Furthermore, in the following claims, the term "comprises" is open-ended; that is, a system, device, article, composition, formula, or process that may include elements other than those listed in the claim preceding such term is still deemed to be within the scope of the claim. Furthermore, in the following claims, terms such as "first," "second," and "third" are used merely as labels and are not intended to impose numerical requirements on the subject matter.

[0107] The above description is illustrative and not restrictive. For example, the above-described examples (or one or more aspects thereof) may be used in combination with each other. Other embodiments may be utilized by those skilled in the art who review the above description, for example. The Abstract complies with 37 CFR §1.72(b) to enable the reader to quickly grasp the nature of the technical disclosure. It is submitted with the understanding that it will not interpret or limit the scope or meaning of the claims. Furthermore, the Detailed Description may group various features together to simplify the disclosure. This should not be construed as indicating that an unclaimed disclosed feature is essential to any claim. Rather, the subject matter of the invention may not reside in all features of a particular disclosed embodiment. Accordingly, the following claims are incorporated into the Detailed Description by way of example, with each claim standing alone as a separate example, and such examples may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full range of equivalents to which such claims are entitled.

Claims

1. 1. A method of operating a mobile robot having a storage compartment for storing deliverable items and a viewing window into the interior of the storage compartment, comprising: hiding the viewing window through a polymer dispersed liquid crystal (PDLC) film in a first non-energized state; converting a direct current (DC) waveform from a battery mounted on the mobile robot into a periodic current waveform through a waveform modulator; and causing the periodic current waveform to flow through at least one conductive layer of the PDLC film, thereby switching the PDLC film to a second conductive state, thereby causing the viewing window to become at least partially transparent.

2. The method of claim 1 , wherein the waveform modulator comprises an oscillator and the periodic current waveform comprises a pulsating direct current (PDC).

3. The method of claim 1 , wherein the waveform modulator comprises an inverter and the periodic current waveform comprises an alternating current (AC) waveform.

4. authenticating the identity of a recipient of the deliverable item when the PDLC film switches to the second energized state; and The method of claim 1 , further comprising the step of opening a door of the mobile robot to allow the authorized recipient access to the receptacle.

5. The method of claim 4 , wherein the authenticating step includes receiving an access code through a user interface of the mobile robot.

6. 6. The method of claim 5, further comprising transmitting the access code to an intended recipient user account.

7. The method of any one of claims 1 to 6, further comprising generating an access code corresponding to an intended recipient user account.

8. determining whether the mobile robot is within a specified radius of an intended destination; and 7. The method of claim 1, further comprising initiating a process of making the viewing window at least partially transparent based on a determination that the mobile robot is within a specified radius of the intended destination.

9. determining an intended destination for delivery of said deliverable items; and transporting the deliverable item to the intended destination via a drivetrain of the mobile robot; The method of any one of claims 1 to 6, wherein a display is performed when the mobile robot reaches the intended destination.

10. A mobile robot, a container for storing deliverable items within said mobile robot; a viewing window for viewing the interior of the container, the viewing window including a polymer dispersed liquid crystal (PDLC) film operable to switch between a first, unenergized state in which the viewing window is opaque and a second, energized state in which the viewing window is transparent; a waveform modulator for converting a direct current (DC) waveform from a battery onboard the mobile robot into a periodic current waveform; and an actuator for causing the periodic current waveform to flow through at least one conductive layer of the PDLC film to change the PDLC film to the second conductive state.

11. 11. The mobile robot of claim 10, wherein the waveform modulator comprises an oscillator and the periodic current waveform comprises a pulsating direct current (PDC).

12. 11. The mobile robot of claim 10, wherein the waveform modulator comprises an inverter and the periodic current waveform comprises an alternating current (AC) waveform.

13. further comprising an authentication circuit for ascertaining the identity of a recipient of the deliverable item when the PDLC film switches to the second powered state; 11. The mobile robot of claim 10, wherein the authentication circuitry is communicatively coupled to a door of the mobile robot such that upon authentication of an authorized recipient, the mobile robot activates the door.

14. 14. The mobile robot of claim 13, wherein the authentication circuitry is communicatively coupled to a user interface to receive an access code.

15. 15. The mobile robot of claim 14, further comprising a transceiver circuit for transmitting said access code to an intended recipient user account.

16. location circuitry for determining whether the mobile robot is within a specified radius of an intended destination; and 16. The mobile robot of claim 10, further comprising a waveform controller communicatively coupled to the position circuitry to cause the viewing window to become at least partially transparent based on a determination that the mobile robot is within a specified radius of the intended destination.

17. a drive train for moving the robot towards its intended destination; and further comprising a transceiver circuit for receiving coordinates corresponding to an intended destination for delivery of the deliverable item; 16. The mobile robot of claim 10, wherein the actuator includes a waveform controller communicatively coupled to position circuitry to cause the periodic current waveform to flow through at least one conductive layer of the PDLC film when the mobile robot reaches the intended destination.

18. 1. A method for operating a mobile robot having a storage unit for storing deliverable items and a viewing window into the storage unit, comprising: hiding the deliverable items through a display panel selectively operable to display or hide the deliverable items in the receptacle without opening the receptacle; acquiring position coordinates of the mobile robot; and The method includes a step of operating the display panel to display the deliverable items via electrical signals communicatively coupled to the display panel, the display step being performed based on the acquired location coordinates matching delivery coordinates.

19. 1. A method for operating a mobile robot having a storage unit for storing deliverable items and a viewing window into the storage unit, comprising: hiding the viewing window through a polymer dispersed liquid crystal (PDLC) film in a first non-energized state; converting a direct current (DC) waveform from a battery mounted on the mobile robot into a periodic current waveform through a waveform modulator; causing the periodic current waveform to flow through at least one conductive layer of the PDLC film to switch the PDLC film to a second conductive state, thereby rendering the viewing window at least partially transparent; determining an intended destination type of an intended destination of the mobile robot; and The method includes initiating a process of causing the viewing window to become at least partially transparent based on the intended destination type.

20. 20. The method of claim 19, wherein the waveform modulator comprises an oscillator and the periodic current waveform comprises a pulsating direct current (PDC).

21. 20. The method of claim 19, wherein the waveform modulator comprises an inverter and the periodic current waveform comprises an alternating current (AC) waveform.

22. authenticating the identity of a recipient of the deliverable item when the PDLC film switches to the second energized state; and 20. The method of claim 19, further comprising opening a door of the mobile robot to allow the authorized recipient access to the receptacle.

23. 23. The method of claim 22, wherein the authenticating step includes receiving an access code through a user interface of the mobile robot.

24. 24. The method of claim 23, further comprising transmitting the access code to an intended recipient user account.

25. 25. The method of claim 24, further comprising generating an access code corresponding to the intended recipient user account.

26. In any one of paragraphs 19 to 25, 26. The method of any one of claims 19 to 25, further comprising transporting the deliverable item to the intended destination via a drivetrain of the mobile robot.

27. A mobile robot, a container for storing deliverable items within the mobile robot; and a viewing window for viewing the interior of the container, the viewing window being operable between two states including a first state in which the viewing window is opaque and a second state in which the viewing window is transparent.

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