Autonomous robotic systems for transportation attendants

Abstract

Provided herein are autonomous robot systems for attending to passengers and optimizing operations on a transportation vehicle. The system includes a robot comprising: a robotic arm having an end effector comprising a universal tool connector mounting interface for removably attaching a tool, a base attached to the arm, wherein the base comprises a vision module configured to sense an environment around the robot system, and compute and control components, communicatively connected to the robotic arm and the vision system, comprising at least one memory to store processor executable instructions and at least one processor to execute the instructions, and configured to process input from the vision module and direct the robotic arm to autonomously perform tasks, and a track on an interior surface of the transportation vehicle, wherein the base is mounted on a compartment movably connected to the track to enable the robot to move within the transportation vehicle.

Description

AUTONOMOUS ROBOTIC SYSTEMS FOR TRANSPORTATION ATTENDANTSTechnical Field

[0001] The embodiments disclosed herein relate to autonomous robotic systems, and, in particular, to autonomous robotic systems for transportation attendants.Introduction

[0002] Flight (e.g., airplane) and Rail (e.g., passenger train) aisles are often constrained to confined spaces for both passengers and attendants navigating to different sections on the plane or train. This typically causes a backlog of passengers to wait to get by and make accessing compartments difficult. Currently no transportation vehicles employ robotic systems to optimize the amount of space being used within the vehicle while maintaining a high standard of service to passengers.

[0003] Accordingly, there is a need for autonomous robotic systems for transportation and in-flight attendants.Summary

[0004] Provided herein is an autonomous robot system for attending to passengers on a transportation vehicle, the system including a robot comprising at least a first articulated robotic arm having a first end effector, wherein the first end effector comprises a universal tool connector mounting interface for removably attaching a plurality of tools, wherein the tools are connected at least one of electrically and mechanically, a first base attached to the robotic arm, wherein the first base comprises a first vision module configured to sense an environment around the robot system, and compute and control components, communicatively connected to the at least a first articulated robotic arm and the first vision system, comprising at least one memory to store processor executable instructions and at least one processor to execute the instructions, and configured to process input from the first vision module and direct the at least a first robotic arm to autonomously perform tasks; and a track on an interior surface of the transportation vehicle, wherein the first base is mounted on a compartment movably connected to the track to enable the robot to move within the transportation vehicle.

[0005] The compartment may further comprise a storage compartment mounted to the first base and connected to the track to store materials and fluids.

[0006] The storage compartment may be electrically powered to provide at least one of heating and cooling to the materials.

[0007] The storage compartment may store at least one of the plurality of tools.

[0008] The storage compartment may store a fluid reservoir and pump system that interconnects with the fluid systems of the first base.

[0009] The fluids being dispensed from the storage compartment to the first end effector may be temperature controlled within the storage compartment and / or the end effector

[0010] The compute and control components may be located within the base.

[0011] The interior surface of the transportation vehicle may be a roof.

[0012] The track may be a track and rail system.

[0013] The track and rail system may be one of: a belt drive, rack and pinion, monorail, dual-rail, telescopic, cable-based, and a magnetic track

[0014] The transportation vehicle may be a plane or a train.

[0015] The end effector may further comprise one or more fluid lines and the mounting interface may comprise one or more pneumatic or hydraulic connectors in fluidic connection with the one or more fluid lines for connecting to one or more fluid conduits to the first base.

[0016] The end effector may further comprise a locking mechanism for mechanically connecting to at least one of the plurality of tools to the end effector.

[0017] The end effector may further comprise a second vision module communicatively connected to the computer and control components.

[0018] The end effector may further comprise a projector configured to project text, images, and video onto a surface.

[0019] The vision modules may be further configured to sense user interaction with a user interface projected by the projector.

[0020] The end effector may further comprise a load cell configured to measure force and torque.

[0021] The robotic arm may further comprise a plurality of proximity sensors.

[0022] The robot may further comprise a grabber to grasp, move, and release objects.

[0023] The robot may further comprise a microphone to record audio and a speaker to output audio.

[0024] The compute and control components may be configured to execute instructions of artificial intelligence tasks to recognize objects.

[0025] The artificial intelligence tasks may include at least one of: recognizing waste, interacting with passengers, identify and memorize items in compartments, notify humans of locations of items, optimize orientation and position of materials within compartments, read tickets and direct passengers to seats, recognize multiple languages, provide information to passengers, and monitor passengers.

[0026] The robot may be configured to physically aid passengers.

[0027] The robot may further include a thermopile to sense temperature.

[0028] The robot may be powered by at least one battery and the system may further comprise a charging station located at an end of the track for wireless charging the at least one battery.

[0029] The robot may further include a second articulated robotic arm attached to the first base, comprising a second end effector, wherein the second end effector comprises a universal tool connector mounting interface for removably attaching a plurality of tools, wherein the tools are connected at least one of electrically and mechanically, and a third vision module configured to sense operation of the second end effector, and wherein the compute and control components are configured to process input from the third vision module and direct the second robotic arm to autonomously perform tasks.

[0030] The robot system may further include a second robot comprising a second articulated robotic arm having a second end effector, wherein the second end effector comprises a universal tool connector mounting interface for removably attaching a plurality of tools, wherein the tools are connected at least one of electrically and mechanically, a second base attached to the robotic arm, wherein the second base comprises a third vision module configured to sense an environment around the robot system, and compute and control components, communicatively connected to the second articulated robotic

[0031] arm and the third vision system, comprising at least one memory to store processor executable instructions and at least one processor to execute the instructions, and configured to process input from the third vision module and direct the second robotic arm to autonomously perform tasks; and a storage compartment connected to the first base on a first side and the second base on a second side, wherein the first robot and the second robot are connected to the same track.Brief Description of the Drawings

[0032] The drawings included herewith are for illustrating various examples of articles, methods, and apparatuses of the present specification. In the drawings:

[0033] Figure 1 A is a front view of a single arm robotic system within a transportation compartment, according to an embodiment;

[0034] Figure 1 B is a perspective view of a single arm robotic system within a transportation compartment, according to an embodiment;

[0035] Figure 1C is another perspective view of a single arm robotic system within a transportation compartment, according to an embodiment;

[0036] Figure 1 D is another perspective view of a single arm robotic system within a transportation compartment, according to an embodiment;

[0037] Figure 2A is a front view of two robotic systems on different tracks within the same transportation vehicle, according to an embodiment;

[0038] Figure 2B is a perspective view of the two robotic systems of Figure 2A, according to an embodiment;

[0039] Figure 3 is a side view of a robotic system including two robots connected to the same storage compartment on the same track, according to an embodiment;

[0040] Figure 4 is a perspective view of a robotic system including two robotic arms on the same base, according to an embodiment.Detailed Description

[0041] Various apparatuses or processes will be described below to provide an example of each claimed embodiment. No embodiment described below limits any claimed embodiment and any claimed embodiment may cover processes or apparatuses that differ from those described below. The claimed embodiments are not limited to apparatuses or processes having all of the features of any one apparatus or process described below or to features common to multiple or all of the apparatuses described below.

[0042] One or more systems described herein may be implemented in computer programs executing on programmable computers, each comprising at least one processor, a data storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, and without limitation, the programmable computer may be a programmable logic unit, a mainframe computer, server, and personal computer, cloud based program or system, laptop, personal data assistance, cellular telephone, smartphone, or tablet device.

[0043] Each program is preferably implemented in a high level procedural or object oriented programming and / or scripting language to communicate with a computer system. However, the programs can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Each such computer program is preferably stored on a storage media or a device readable by a general or special purpose programmable computer for configuring and operating the computer when the storage media or device is read by the computer to perform the procedures described herein.

[0044] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary a variety of optional components are described to illustrate the wide variety of possible embodiments of the present invention.

[0045] Further, although process steps, method steps, algorithms or the like may be described (in the disclosure and I or in the claims) in a sequential order, such processes, methods and algorithms may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of processes described herein may be performed in any order that is practical. Further, some steps may be performed simultaneously.

[0046] When a single device or article is described herein, it will be readily apparent that more than one device I article (whether or not they cooperate) may be used in place of a single device I article. Similarly, where more than one device or article is described herein (whether or not they cooperate), it will be readily apparent that a single device / article may be used in place of the more than one device or article.

[0047] Herein, “robot”, “robotic system”, “AeroRail System”, and “AeroRail Attendant” are used interchangeably to refer to an autonomous robot system for ultrasound examinations, unless otherwise specified. The robot system generally includes a robotic arm connected to a rail / track system, a “backpack”, “compartment”, or “storage compartment” used interchangeably, and a power source.

[0048] Herein, “Al” or “Als” mean artificial intelligence (e.g., trained neural networks), machine learning processes, algorithms and / or natural language models that are programmed into the robot systems described herein.

[0049] Components of the Robotic System

[0050] Robotic Arm - The robotic system includes an arm comprising a plurality of articulable limb segments or linkages, providing the arm with up to seven degrees of freedom. The arm includes a plurality of proximity sensors arranged in a proximity sensing skin for sensing the surrounding environment for autonomous control of the articulated arm during operations. The arm may also contain fluid lines running from the base through the limb segments to the end effector. The arm may be the articulated arm disclosed in International Patent Publication No. WO2022241550.The base of the robotic arm includes compute and control components as well as input and output components such as microphones, speakers and indicator lights (e.g., LEDs) positioned around the base for 360 degree input sensing and output.

[0051] The robot or the robot arm may be height adjustable on a column.

[0052] The compute and Control components include at least one memory for storing processor-executable instructions and other data and at least one processor for executing the instructions including Al-trained tasks, procedures, functionality, and processing environmental data using the various sensors. The base may further include I / O connectors (e.g., USB, HDMI, USB-C ports) for connecting to peripherals (e.g., the display), input devices (e.g., a mouse) or VR / AR components to control and / or interact with the robot. The base may include wireless communication components (e.g., Bluetooth and / or Wifi antennas, receivers or transceivers) for connecting the robot to communication networks, as well as tools, input devices and VR / AR components with wireless connectivity. The base includes a vision module having two RGB cameras with global shutter, and proximity sensors (time-of-flight sensors) and a thermopile sensor for viewing / sensing the surrounding environment and users (operators, patients) for autonomous control of the robot system during operations. The vision module is mounted on a gimbal system having three degrees of freedom (pitch, yaw, roll) to point the cameras / sensors in different directions to view the environment around the robot system. The base may further include two additional RGB cameras in addition to those in the vision module. The base rotates 360 degrees along with the vision module and additional 2 cameras, around the base. The base may be the base disclosed in International Patent Publication No. WO2022241550.

[0053] The arm includes an end effector at a distal end. The end effector comprises a universal tool connector mounting interface for mechanically and / or electrically connecting the robot arm to various tools and apparatuses. Generally, the mounting interface of the end effector is complementary to the connector interface of the tool. The connector mounting interface may include electrical connectors (e.g., pogo pins and / or USB connectors / ports) for electrically connecting the end effector (and the rest of the robotic system 100) to a tool.The electrical connection between the end effector and the tool provides power to the tool and may further transmit data between the tool and the rest of the robotic system. The mounting interface may further include a locking mechanism (e.g., locking lugs or grooves, a helical collar, or the like), for mechanically attaching the ultrasound tool to the end effector (and the robotic arm). The end effector may further comprise a load cell configured for measuring force and toque experienced by the tool feedback and control. The end effector may be the end effector projector disclosed in U.S. Provisional International Patent Application No. 63 / 507, 898PCT / CA2024 / 050803, to the same applicant.

[0054] According to various embodiments, the robotic system may include one or two arms. In a two-arm configuration, both arms are connected to the same base and the arms are substantially similar except for the attached tool. A two-arm configuration provides more dexterity and ability to serve patrons on both sides of an aisle.

[0055] Storage Compartment- The robotic system may include a “backpack” or “storage compartment” attached to the base of the robotic arm for the purposes of storing various materials such as snacks, utensils, towels, etc. This backpack may be an electrically powered compartment to further provide cooling and / or heating of the items stored internally. Using the various sensors from the robotic arm and trained Als, the robotic arm is able to articulate autonomously to the various items stored to retrieve or dispense items. The compartment may include a single or multiple tools that the robot’s arm end effector can attach and detach to. The robot determines which tool to use according to the functionality demanded at any point. This compartment may also include a reservoir to store fluids along with a pump system to dispense various fluids through the fluid lines throughout the robotic arm. The content of the reservoir can be cooled or heated using heating / cooling systems as part of the compartment similar to a fridge, in addition to being heated or cooled using the Peltier device located within tools attached to the End Effector of the robotic arm.

[0056] Track and Rail System - The robot (comprising the arm, base, and possibly storage compartment) is movably attached to a track system. The track system may be any one of a belt drive, rack and pinion, monorail, dual-rail, telescopic, cable-based or magnetic track system. The robot can traverse the length of an aisle along the track system. This track system is not exclusive to being located in the aisle but can be extended to the corners or off-center areas where the robotic system and backpack can return to idle locations when not in service or require staff attention. The track and rail systems may vary in size and position based on the amount of space available. For example, there may be 2 rails running along the side of an aisle to allow for 2 robot arms to operate of opposite rails. In addition, two or more robots can use a single rail.Power System - The robotic system including the robotic arm, backpack compartment, and track and rail system can be powered via a wired or wireless connection to a power source. In the usage of a wireless system, the robotic arm and its attached compartment will have a battery-pack system. Wireless charging stations may be located at different ends of the aisle, cabin, or room. Alternatively, the batteries may be wired through a physical connection that requires mating with a surface.

[0057] Artificial Intelligence (Al) Control System - The Al control system may reside in the base of the robotic arm, and / or separate dedicated compute system on board of the plane that connects to the robotic system by wire or wirelessly, and / or on cloud server that connects to robotic system by Wi-Fi cellular and / or satellite service. The Al control system includes a singular or multiple artificial intelligence based software modules. The modules use the sensors of the robot to input information about the environment. The modules determine the system's next action such as robot motion, voice inquiry, waiting for passengers to move, etc.

[0058] The components of the robotic system may be used in various combinations.

[0059] Examples include:

[0060] i) one robotic arm + one backpack (as shown in Figures 1A-D and 2 A-B)

[0061] ii) one robotic arm (in front of backpack) + one backpack + one robotic arm (behind of backpack)

[0062] ii) two-arm configuration + one backpack

[0063] The robot and enclosure are mounted to a track system that is generally positioned above and in parallel to an aisle. According to some embodiments, the track system includes a track positioned above and in front of a row of seats, generally perpendicular to the aisle, so that the robot can travel in front of passengers (typically this is for “front row” seats having no other row of seats in front). Where the track system includes multiple tracks, the robot is configured to navigate from one track to another.

[0064] The track system may be any one of a belt drive, rack and pinion, monorail, dual-rail, telescopic, cable based or magnetic track system. The robot can traverse the length of an aisle along the track system.

[0065] The robot is powered by a battery or a wired power cable. For battery powered embodiments, a charging station is disposed at one or both ends of the track system, such that the robot can recharge (at least partially) when at the end of the track system.

[0066] The robot includes a plurality of sensors (e.g., accelerometers, gyroscopes, inertial measurement units, optical sensors) for detecting and counteracting turbulence.

[0067] Referring to FIGS 1A-1 D, shown therein is an autonomous robotic system 100 serving as a service attendant for transportation environments not limited to airplanes and trains. The robotic system of Figures 1 A-D operates in an environment where overhead bins / compartments 130 may be available along with passenger seats 140 and passengers present 150. In other environments, the vehicle may have bins or compartments under seats or in other locations.

[0068] The robotic system 100 includes a robot body comprising at least one articulated arm 102 and a base 104, an end effector 110 for connecting to various tools and apparatuses 112. The arm 102 comprises a plurality of articulable limb segments or linkages, providing the arm 102 with up to seven degrees of freedom. The arm 102 includes a plurality of proximity sensors arranged in a proximity sensing skin for sensing the surrounding environment for autonomous control of the articulated arm 102 during operations. The arm 102 also contains fluid lines running from the base 104 through the limb segments to the end effector 110. The arm 102 may be the articulated arm disclosed in International Patent Publication No. WO2022241550

[0069] The base 104 includes internal components 106, including compute and control components as well as input and output components such as microphones, speakers and indicator lights (e.g., LEDs) positioned around the base 104 for 360-degree input sensing and output. Compute and control components include at least one memory for storing processor executable instructions and other data, and at least one processor for executing artificial intelligence or other instructions for performing autonomous tasks related to passenger assistance or vehicle operations. The internal components 106 also include a plurality of sensors for sensing proximity, movement, speed, etc.

[0070] In addition, base 104 includes a Vision Module (VM) 116 comprising of 2 RGB stereoscopic cameras with global shutter, a thermopile sensor, a Time of flight sensor, and the option for a projector. This VM 116 can further be mounted on a 3 Degrees of Freedom Gimbal system (pitch, yaw, roll) to articulate autonomously or through user input such as a VR / AR headset. Base 104 may include additional RGB cameras. The combination of the VM 116 and additional RGB cameras will have cutouts for their lens within an enclosure on the base that rotates 360 degrees. This cutout may include a single digital display or multiple LED / LCD / OLED display to show images such as an eye.

[0071] The robotic system is mounted to a backpack or storage compartment 114 through a mounting interface between 104 and 114. The mounting interface includes ports for power, communication, fluid lines, and other physical and electronic connections. The storage compartment 1 is connected to a rail track system 108.

[0072] The rail track system 108 is located in the roof of the vehicle of Figures 1A-D and is perpendicular to the aisle between the seats 140.

[0073] The end effector 110 includes a vision module 111 having a plurality of cameras and sensors for viewing / sensing the surrounding environment, the user, and the various tools. The cameras / sensors include 2 stereoscopic cameras with global shutter, a time of flight sensor, a thermal pile sensor and an inertial measurement unit. The vision module 111 may also include a projector for projecting text, images or video onto a surface.

[0074] The end effector 110 further comprises a universal tool connector mounting interface for mechanically and electrically connecting the robot arm to different tools. Generally, the mounting interface of the end effector 110 is complimentary to the connector interface of the tool 112. The connector mounting interface may include electrical connectors (e.g., pogo pins and / or USB connectors / ports) for electrically connecting the end effector (and the rest of the robotic system 100) to the tool 112. The electrical connection between the end effector 110 and the tool 112 provides power to the tool 112 and may further transmit data between the tool 112 and the rest of the robotic system 100 (e.g., the control and computer components).

[0075] The mounting interface may further include a locking mechanism (e.g., locking lugs or grooves, a helical collar, or the like), for mechanically attaching the tool 112 to the end effector 110 (and the robotic arm 102). The end effector 110 may further comprise a load cell configured for measuring force and toque experienced by the tool 112 for haptic feedback and control. The load cell may be a 6-multi axis load cell. The end effector 110 may be the end effector disclosed in U.S. Provisional International Patent Application No. 63 / 507,898 and PCT / CA2024 / 050803, to the same applicant.

[0076] Referring to FIG 1 B, the robotic system 100 can be seen connected on a rail / track system 108 to enable bi-directional movement (forward and backward / left and right). The storage compartment 114 attached to the robot arm 100 can be seen as one unit connected to the rail track system 108. Shelves or storage can be seen in 114 for the purposes of storing refreshments, snacks, accessories, towels, food, utensils, etc. The compartment 114 can be electronically powered with a heating or cooling system to change or maintain the temperature of stored items. The compartment can further be configured tocontain a reservoir to store fluid to be dispensed through the fluid lines in base 104 routed through arm 102 and dispensed out of the end effector 110. The fluids are dispensed via a motor located in 114. The cooling and heating system located in 114 for fluids can also be used in conjunction with a Peltier device located in a tool attachment 112 connected to the mounting interface of the end effector 110.

[0077] Referring to FIG 1C-1 D is a view of the robotic system 100 being articulated by the limbs 102 to face toward the region of interest or person of interest 150. The robotic arm 100 uses the Vision Module 116 to get a closeup, dynamic, and intimate view when completing tasks. The Vision Module 116 and RGB cameras located in 104 on a 360 degree rotational system with the Vision Module 116 resting on a 3 Degrees of Freedom system for dynamic viewing is used to get a wider and landscape view of the environment of the robotic system for the purposes of collision avoidance with humans 150, compartments 130, or any objects in the middle of the aisle. The data gathered from the sensors 106 in base 104 is combined with capacitive and time of flight sensors embedded in the arm102 to enable the robot to have 360 degree awareness of the environment when completing tasks. This data can be used for 3D scene recreation for the purposes of using a VR / AR headset or transmitting the data to a monitor for viewing.

[0078] While the embodiments of FIG 1A-1 D may be used as standalone systems, the same configuration may be used in opposing rail track systems 208 as seen in FIG 2A- 2B, wherein there are, two robotic systems 200 within the same cabin on either separate or conjoining rail track systems. When multiple systems are being used at the same time the sensory data collected from the sensors in their respective base 204, end effector 210, and arm / limb 202 may be shared between one another to coordinate the completion of tasks and for collision avoidance. This data can be shared and merged for better and more accurate scene recreation.

[0079] In another embodiment, as in Figure 3, a robot can be located at both ends of a storage compartment. That is, two robots 300 and 301 are connected to one another by conjoined storage compartments 314 and 315. The conjoined system with two robots 300 and 301 and two compartments 314 and 315 is connected to the rail track system 308.

[0080] Referring again to FIG 2B, therein is shown (as a box) a charging station or power source 220 for the robotic system 200. The station 220 can be a wireless charging station which houses battery packs. Alternatively, the robotic system may be connected to a wired power source for constant electricity. The charging station 120 may have a physical mounting interface to a base or storage compartment to transmit power and electricity.

[0081] Referring to FIG 4, therein is shown a robotic system configured with two arms 402 and 403 that may be substantially the same. The dual arm configuration is conjoined by a joint 418 and shares the same base 404. This configuration may include a third vision module 417 similar to the one located in base 104 and end effector 110 of Figures 1A-1 D.It is important to note that the images shown are examples of different configurations of the number of arms, rails, and comparts that can be used simultaneously. The examples does not limit the different configurations that may be used. When one or more arms are used, sensors, sensory data, and computing and processing power may be shared between the two robotic systems.

[0082] Functionality

[0083] The robotic system is configured to autonomously complete the same if not more tasks than a human attendant servicing passengers.

[0084] The robot uses the various mechanical components, e.g., the arm, end effector, and tools, sensing components, e.g., vision modules, sensors, etc., and computer and control components, e.g., at least one memory storing processor executable instructions, at least one processor, and various Al instructions and algorithms, wherein the compute and control components are communicatively and operationally connected to the mechanical and sensing components, to actuate and operate the robot to autonomously perform tasks.

[0085] Distribution / Collection - According to an embodiment, using a single or dual arm configuration the robot is configured to distribute refreshments, food, electronic items (headphones), blankets, etc., and be able to collect waste items from passengers. Using vision modules, compute and control components, and artificial intelligence (Al) instructions, the robot is configured to recognize waste items (wrappers, unfinished food, utensils, etc.) and interact with the passenger to see if they would like to have their waste items collected. The robot is further configured to be able to recognize when a passenger’s drink is empty and ask if they would like a refill or purchase any additional products.

[0086] Luggage Assistance - According to an embodiment, the robot is configured to open compartment doors, hold on to passenger luggage, and assist and / or store luggage in the compartments. The robot is configured to identify and memorize which compartments still have space left for storage and move luggage accordingly. The robot is further configured to identify any leftover personal belongings left on the seat or compartment heads for storage and notify a crew member or the passenger that is about to leave. Therobot is also able to optimize the orientation and positioning of luggage to maximize the number of luggage that can be stored within a compartment.

[0087] Guidance - According to an embodiment, the robot is configured to interact with passengers entering the plane or train to have their tickets examined by the robot through the use of its vision modules to identify the passenger’s seat assignment and instruct the passenger on the path to take to where their seat is located. Guidance may also be provided to direct patrons on where staff members are located or where the lavatories are. This guidance is done through human-robot interaction via the speakers and microphone systems within the base of the robotic system.

[0088] Sanitization - According to various embodiments, the robot is configured to, using various tools that are attachable to the robot end effector, select the appropriate tool(s) to clean up seats, aisle, compartments, and dispense fluids such as hand sanitizer to passengers if needed. The fluids and tools are located in the backpack compartment of the robotic system or in other stored locations.

[0089] Communication - According to various embodiments, the robot is configured to use natural language processing Als to receive speech input via the microphones embedded within the robot, to interact with passengers in multiple languages.

[0090] Tour Guide - According to an embodiment, the robot is configured to interact with passengers and respond to passenger inquiries about the destination country and ask for suggestions on entertainment, cuisine, tour attractions, etc. to help them with their trip planning.

[0091] Staff Attention - According to an embodiment, the robot is configured to receive and relay audible messages from passengers to crew members and / or request assistance from an attendant / crew members.

[0092] Projector - According to an embodiment, the robot is configured to use the projector to show interactive or comforting images on flat surfaces for passengers such as children to create a warm and welcoming environment. Soothing or calm music can also be played in conjunction and directed in the direction of the passenger.

[0093] Instructions - According to an embodiment, the robot is configured to provide instructions or relay information from the captain / crew members through its speakers during boarding, takeoff, deboarding, landing, and other phases of the mode of transportation. Relayed information may include customs declarations instructions, local laws, etc.

[0094] Seat Belt- According to an embodiment, the robot is configured to verify passenger seatbelts are worn when requested by the cabin crew through visual inspections with the vision modules embedded into the robot.

[0095] Button - According to an embodiment, passengers can use a button to summon the robot for servicing / assistance.

[0096] Health Monitoring - According to an embodiment, the robot is configured to recognize facial expressions / moods of patients with the vision modules embedded within the robot and Als to monitor passengers that show signs of sickness to see if their health has deteriorated during the trip (e.g., coughing, sneezing, etc.). Should a passenger’s health deteriorate, the robot is further configured to notify a crew member.

[0097] Temperature Check - According to an embodiment, the robot is configured to use its thermopile sensors to measure the temperature of passengers entering the plane / train, to determine if they are healthy enough to board.

[0098] Security - According to an embodiment, using the vision modules and microphones, the robot is configured to detect any altercations / conflicts between passengers. The robot can monitor, warn, alert, and deter passengers that are trying to enter off-limit areas. The robot may be further configured to detect suspicious activities and behaviors.

[0099] Emergency - According to an embodiment, during the event of an emergency, the robot is configured to provide instructions through its projectors, speakers, and LED lights to direct passengers to emergency exits, amongst other situations. The robot itself would be able to attach to an appropriate tool to assist with the opening of emergency doors open the emergency door autonomously at command.

[0100] Safety Tools - According to various embodiments, the robot is configured to assist individuals to wear their oxygen masks, floatation device, etc. in the event of an emergency.

[0101] Tele-Operation - According to various embodiments, crew members can connect and control the robot with a haptic control system and view what the robot sees via VR headset or monitor. The view captured by the robot may be provided by the vision modules in the end effector and / or the base of the robot. Through this interface the robot can be commanded to any functionality.

[0102] Physical Assistance - According to an embodiment, the robot is configured to be a physical aide to elderly passengers or passengers that require an aide.

[0103] Feeding - According to an embodiment, the robot is configured to assist senior passengers by feeding them and guiding their drinking utensils closer to them.

[0104] Temperature - According to an embodiment, the robot is configured to use the thermopile sensor in the vision module to inform the passenger on when the food is at a safe and suitable temperature to eat.

[0105] Temperature Monitoring - According to an embodiment, the robot is configured to observe the passenger’s facial expression to adjust the buttons for the fans blowing out to the patient (1) Modulate Air Flow; (2) Lighting controls.

[0106] Clothing - According to an embodiment, the robot is configured to assist with holding up a passenger's blanket or clothing as the passenger gets up or sits down on their seat.

[0107] Refresher - According to an embodiment, the robot is configured to spray a cooling mist on the passenger's face, provide warm facial towels, etc.

[0108] Seat - According to an embodiment, the robot is configured to lower or raise arm seat rest to enter / exit aisle.

[0109] Charging - According to an embodiment, the robot is configured to connect or provide charging devices / connectors to passengers should there not be enough charging ports or if the passenger doesn’t have the appropriate connectors.

[0110] Reminders - According to an embodiment, the robot is configured to physically wake up an individual up by tapping them or other means if the passenger decides to schedule a wake up reminder with the robot. The robot may further be configured to wake up passengers according to time zone adjustments or at periodic times for stretching exercises.

[0111] Operation

[0112] The robot is equipped with multiple sensors to be able to adapt to the turbulence and uneven environments during travel.

[0113] Balancing - According to an embodiment, the robot is configured to transport and balance items using its internal sensors to counteract turbulence or movement of the plane / train so the item does not tip over, fall over, spill, etc. on to the passengers or floor.

[0114] Collision Avoidance - According to an embodiment, the robot is configured to moving up and down the aisle the robot would be using the vision modules within its base,end effector, and smart sensing skin to avoid colliding with objects and passengers that may be moving up and down the aisle or getting up / sitting down on their seat.

[0115] Minimal Position - According to an embodiment, as the robot is traveling up and down the aisle, the robot is configured to fold into a compact position that takes up the least amount of space to avoid inadvertently colliding with objects within its environment.

[0116] Low Light Operation - According to an embodiment, the robot is configured to use the thermopile / IR sensors on the vision modules, to create a heat or depth signature of moving persons to avoid collisions and have awareness of its surroundings in the dark (e.g. blinds are shutoff, lights dimmed down at night, low ambient lights to see path, etc.)

[0117] Leakages - According to an embodiment, the robot is configured to use the thermopile sensors on the vision modules will scan the windows to determine if there are any leakages.

[0118] While the above description provides examples of one or more apparatus, methods, or systems, it will be appreciated that other apparatus, methods, or systems may be within the scope of the claims as interpreted by one of skill in the art.

[0119] What is claimed is systems and methods as generally and as specifically described herein.

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