Remotely controlled robotic sensor ball

• US 10,397,527 B2
• Filed: 07/08/2016
• Issued: 08/27/2019
• Est. Priority Date: 07/08/2015
• Status: Active Grant

• Current Assignee: Omar Barlas
• Original Assignee: Omar Barlas
• Inventors: Barlas, Omar
• Primary Examiner(s): Ingram, Thomas
• Application Number:
  US15/206,153
• Publication Number:
  US 20170010607A1
• Time in Patent Office: 1,145 Days
• CPC Class Codes: A63H 33/005 Motorised rolling toys
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G08B 13/19647 Systems specially adapted for intrusion detection in or around a vehicle
• CPC Class Codes: G08B 17/00 Fire alarms; Alarms responsive to explosion
• CPC Class Codes: G08B 21/182 Level alarms, e.g. alarms responsive to variables exceeding a threshold
• CPC Class Codes: G08B 25/08 using communication transmission lines G08B13/19658, G08B21/0286, G08B25/016 take precedence
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/611 where the recognised objects include parts of the human body
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

A remotely controlled robotic sensor ball and method of operation thereof. The robotic sensor ball includes an outer shell forming a ball, control circuitry positioned within the outer shell, a camera operably connected to the control circuitry, a propulsion system inside the outer shell, and one or more connectors. The control circuitry includes at least one processor, memory, and a wireless communication interface. The camera is configured to generate video signals of a view exterior to the outer shell. The propulsion system configured to cause the outer shell to rotate in response to instructions received via the wireless communication interface. The one or more connectors are configured to operably connect one or more sensors to the control circuitry. The one or more sensors are connectable in a modular manner.

Claims

1. An apparatus comprising:

an outer shell forming a ball;

control circuitry positioned within the outer shell, the control circuitry comprising at least one processor, memory, and a wireless communication interface;

a camera operably connected to the control circuitry, the camera configured to generate video signals of a view exterior to the outer shell;

a motion sensor positioned within the outer shell, operably connected to the control circuitry and configured to detect motion of the apparatus;

a propulsion system inside the outer shell, the propulsion system configured to cause the outer shell to rotate in response to instructions received via the wireless communication interface; and

one or more connectors configured to operably connect one or more sensors to the control circuitry, the one or more sensors connectable in a modular manner;

wherein the control circuitry is configured to apply digital video stabilization based on motion of the apparatus detected by the motion sensor, and

wherein the at least one processor is configured to;

identify obstacles in an indoor environment based on the video signals generated by the camera and outputs of at least some of the one or more sensors while the apparatus is moving in the indoor environment,

generate a map of the indoor environment based on the identified obstacles and an indoor system of coordinates, and

control movement of the apparatus within the indoor environment based on the generated map.

2. The apparatus of claim 1, wherein the motion sensor is operably connected to the control circuitry via at least one of the one or more connectors, and

wherein the control circuitry is configured to apply the digital video stabilization to account for horizontal or vertical movement of the camera during movement of the apparatus.

3. The apparatus of claim 2, further comprising:

a housing within the outer shell, the housing containing at least the control circuitry; and

a support positioned within the outer shell and rotatably connected to the housing, the support rotatable in at least one axis,

wherein the control circuitry is configured to apply the digital video stabilization using software video stabilization.

4. The apparatus of claim 1, further comprising:

a housing within the outer shell, the housing containing at least the control circuitry and having ports for connecting additional sensors, wherein the outer shell is formed of at least two separable pieces and at least a portion of the outer shell is transparent.

5. The apparatus of claim 1, wherein the camera is a wide angle camera configured to provide at least a 180 degree field of view.

6. The apparatus of claim 1, wherein:

the wireless communication interface is configured to receive a request to travel to a specific location within the indoor environment, and

the at least one processor is configured to generate the map of the indoor environment by triangulating a position of the apparatus in the map relative to the identified obstacles and the indoor system of coordinates;

the at least one processor is configured to identify the specific location within the indoor environment using the mapping of the indoor environment and control the propulsion system to move the apparatus to the identified specific location within the indoor environment, the propulsion system including at least one wheel configured to move the apparatus and a motor configured to drive the at least one wheel;

the at least one processor is configured to perform the mapping using embedded software on the apparatus; and

the at least one processor is configured to control the movement of the apparatus within the indoor environment based on the generated map and the triangulated position of the apparatus.

7. The apparatus of claim 1, wherein:

the wireless communication interface is configured to receive beacon signals from objects within the indoor environment, and

the at least one processor is configured to identify a location of the apparatus within the indoor environment based on correlating the beacon signals with the mapping of the indoor environment.

8. The apparatus of claim 1, wherein the at least one processor is configured to:

identify an occurrence of an event or sequence of events; and

control the apparatus to perform an action in response to identification of the occurrence of the event or sequence of events.

9. The apparatus of claim 8, wherein:

the occurrence of an event or sequence of events comprises recognition of a specific person or object in the video signals generated by the camera, and

the action comprises at least one of generating an audible or visual alert by the apparatus, sending a notification to an external device via the apparatus, and generating control signals to control another device in an indoor environment in which the apparatus is located.

10. The apparatus of claim 8, wherein:

the occurrence of an event or sequence of events comprises values of one or more of the one or more sensors reaching a threshold,

the action comprises at least one of generating an audible or visual alert by the apparatus, sending a notification to an external device via the apparatus, moving throughout an indoor environment to perform a video scan of the indoor environment, and moving to a charging platform in the indoor environment, and

the apparatus comprises a battery configured to receive a wireless charge from the charging platform.

11. A method for operating a robotic sensor ball, the method comprising:

identifying, using control circuitry of the robotic sensor ball, obstacles in an indoor environment based on video signals generated by a camera and outputs one or more sensors while the robotic sensor ball is moving in the indoor environment, wherein the camera and the one or more sensors are operably connected to the control circuitry of the robotic sensor ball, wherein the robotic sensor ball includes a motion sensor, and wherein the control circuitry comprises at least one processor, memory, and a wireless communication interface, and wherein the control circuitry is positioned within an outer shell of the robotic sensor ball;

applying digital video stabilization based on motion of the robotic sensor ball detected by the motion sensor;

moving the robotic sensor ball by causing, by a propulsion system inside the outer shell, the outer shell to rotate in response to instructions received via the wireless communication interface;

generating a map of the indoor environment based on the identified obstacles and an indoor system of coordinates; and

controlling movement of the robotic sensor ball within the indoor environment based on the generated map.

12. The method of claim 11, further comprising:

receiving, via the wireless communication interface, a request to travel to a specific location within the indoor environment;

identifying the specific location within the indoor environment using the mapping of the indoor environment; and

moving, by the propulsion system, the robotic sensor ball to the identified specific location within the indoor environment, the propulsion system including at least one wheel configured to move the robotic sensor ball and a motor configured to drive the at least one wheel;

wherein;

the mapping of the indoor environment is generated by triangulating a position of the robotic sensor ball in the map relative to the identified obstacles and the indoor system of coordinates,

the mapping is generated using embedded software on the robotic sensor ball, and

the movement of the robotic sensor ball within the indoor environment is based on the generated map and the triangulated position of the robotic sensor ball.

13. The method of claim 11, further comprising:

receiving, via the wireless communication interface, beacon signals from objects within the indoor environment; and

identifying, by the at least one processor, a location of the robotic sensor ball within the indoor environment based on correlating the beacon signals with the mapping of the indoor environment, wherein;

applying the digital video stabilization comprises applying the digital video stabilization to account for vertical or horizontal movement of the camera during movement of the robotic sensor ball using software video stabilization.

14. The method of claim 11, further comprising:

identifying an occurrence of an event or sequence of events, wherein the occurrence of an event or sequence of events comprises recognition of a specific person or object in the video signals generated by the camera, and

controlling the robotic sensor ball to perform an action in response to identification of the occurrence of the event or sequence of events, wherein the action comprises at least one of generating an audible or visual alert by the robotic sensor ball, sending a notification to an external device via the robotic sensor ball, and generating control signals to control another device in an indoor environment in which the robotic sensor ball is located.

15. The method of claim 11, further comprising:

identifying an occurrence of an event or sequence of events, wherein the occurrence of an event or sequence of events comprises values of one or more of the one or more sensors reaching a threshold, and

controlling the robotic sensor ball to perform an action in response to identification of the occurrence of the event or sequence of events, wherein the action comprises at least one of generating an audible or visual alert by the robotic sensor ball, sending a notification to an external device via the robotic sensor ball, moving throughout an indoor environment to perform a video scan of the indoor environment, and moving to a charging platform in the indoor environment.

16. A robotic sensor ball comprising:

an outer shell forming a ball;

control circuitry positioned within the outer shell, the control circuitry comprising at least one processor, memory, and a wireless communication interface;

a camera operably connected to the control circuitry, the camera configured to generate video signals of a view exterior to the outer shell;

a motion sensor positioned within the outer shell, operably connected to the control circuitry, and configured to detect motion of the robotic sensor ball;

a propulsion system inside the outer shell, the propulsion system configured to cause the outer shell to rotate; and

one or more sensors operably connected to the control circuitry, at least some of the one or more sensors connectable in a modular manner,

wherein the control circuitry is configured to apply digital video stabilization based on motion of the robotic sensor ball detected by the motion sensor,

wherein the at least one processor is configured to;

identify obstacles in an indoor environment based on the video signals generated by the camera and outputs of at least some of the one or more sensors while the robotic sensor ball is moving in the indoor environment,

generate a map of the indoor environment based on the identified obstacles and an indoor system of coordinates,

control movement of the robotic sensor ball within the indoor environment based on the generated map,

identify an occurrence of an event or sequence of events, and

control the robotic sensor ball to perform an action in response to identification of the occurrence of the event or sequence of events.

17. The robotic sensor ball of claim 16, wherein:

the wireless communication interface is configured to receive a request to travel to a specific location within the indoor environment;

the at least one processor is configured to generate the map of the indoor environment by triangulating a position of the robotic sensor ball in the map relative to the identified obstacles and the indoor system of coordinates;

the at least one processor is configured to identify the specific location within the indoor environment using the mapping of the indoor environment and control the propulsion system to move the robotic sensor ball to the identified specific location within the indoor environment, the propulsion system including at least one wheel configured to move the robotic sensor ball and a motor configured to drive the at least one wheel; and

the at least one processor is configured to control the movement of the robotic sensor ball within the indoor environment based on the generated map and the triangulated position of the robotic sensor ball.

18. The robotic sensor ball of claim 16, further comprising:

a housing within the outer shell, the housing containing at least the control circuitry and having ports for connecting additional sensors;

wherein;

the control circuitry is configured to apply the digital video stabilization to account for vertical or horizontal movement of the camera during movement of the robotic sensor ball,

the control circuitry is configured to apply the digital video stabilization using software video stabilization, and

the outer shell is formed of at least two separable pieces and at least a portion of the outer shell is transparent.

19. The robotic sensor ball of claim 16, wherein:

the occurrence of an event or sequence of events comprises recognition of a specific person or object in the video signals generated by the camera, and

the action comprises at least one of generating an audible or visual alert by the robotic sensor ball, sending a notification to an external device via the robotic sensor ball, and generating control signals to control another device in an indoor environment in which the robotic sensor ball is located.

20. The robotic sensor ball of claim 16, wherein:

the occurrence of an event or sequence of events comprises values of one or more of the one or more sensors reaching a threshold, and

the action comprises at least one of generating an audible or visual alert by the robotic sensor ball, sending a notification to an external device via the robotic sensor ball, moving throughout an indoor environment to perform a video scan of the indoor environment, and moving to a charging platform in the indoor environment.