Methods and systems for automated robotic movement

• US 10,442,082 B1
• Filed: 08/14/2017
• Issued: 10/15/2019
• Est. Priority Date: 07/18/2014
• Status: Active Grant

• Current Assignee: Al, Inc.
• Original Assignee: Al, Inc.
• Inventors: Ebrahimi Afrouzi, Ali, Ebrahimi Afrouzi, Masih, Mehrnia, Soroush, Ebrahimi Afrouzi, Amin, Bakooshli, Azadeh Afshar
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US15/676,888
• Time in Patent Office: 792 Days
• CPC Class Codes: B25J 9/1605 Simulation of manipulator lay-out, design, modelling of manipulator
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/243 Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249
• CPC Class Codes: G05D 1/247 using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/628 following the obstacle profile, e.g. a wall or undulated terrain
• CPC Class Codes: G05D 1/648 Performing a task within a working area or space, e.g. cleaning
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.

Claims

1. A method for automated robotic movement for a robotic device using an electronic computing device, the method comprising:

in a first step, causing the electronic computing device to establish a portion of a work area as a working zone;

in a second step, measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone;

in a third step, wherein more than a predefined number of obstacles are detected within predefined minimum distance of the robotic device and which obstacles are a preset number of degrees apart from one another, establishing a coverage path that accounts for all detected obstacles, wherein establishing the coverage path that accounts for any detected obstacles further comprises;

calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured length with respect to the detected obstacles, and wherein executing the coverage path proceeds from a shortest to a longest of the plurality of straight lines wherein a minimum number of straight lines are shorter than a predefined requirement; and

in a fourth step, driving the robotic device along the coverage path such that the robotic device covers substantially all of the working zone at least once.

2. The method of claim 1 wherein establishing the coverage path that accounts for all detected obstacles comprises any of:

calculating a first center-return path, wherein the first center-return path is defined by a plurality of substantially collision-free triangulated paths, and wherein the first center-return path corresponds with a maximum turning angle, a triangle measured size with respect to a tool size of the robotic device and distances to all detected obstacles;

calculating a second center-return path, wherein the second center-return path is defined by a plurality of substantially collision-free isosceles triangulated paths, and wherein the second center-return path corresponds with a maximum turning angle, an isosceles triangle measured size with respect to the tool size of the robotic device and a distance to a first newly detected obstacle; and

calculating a third center-return path, wherein the third center-return path is defined by a plurality of substantially collision-free point-to-point paths, and wherein the third center-return path corresponds with a maximum turning angle and a plurality of straight lines each having a measured size with respect to detected obstacles.

3. The method of claim 1 wherein establishing the coverage path that accounts for the new obstacle comprises any of:

calculating a first center-return path, wherein the first center-return path is defined by a plurality of substantially collision-free triangulated paths, and wherein the first center-return path corresponds with a maximum turning angle, a triangle measured size with respect to a tool size of the robotic device and distances to all detected obstacles;

calculating a second center-return path, wherein the second center-return path is defined by a plurality of substantially collision-free isosceles triangulated paths, and wherein the second center-return path corresponds with a maximum turning angle, an isosceles triangle measured size with respect to the tool size of the robotic device and a distance to a first newly detected obstacle; and

calculating a third center-return path, wherein the third center-return path is defined by a plurality of substantially collision-free point-to-point paths, and wherein the third center-return path corresponds with a maximum turning angle and a plurality of straight lines each having a measured size with respect to detected obstacles.

4. The method of claim 3, wherein

detecting the new obstacle after execution of a planned path has begun causes an error to be logged, wherein

when a first pre-determined number of errors are logged, switching from calculating the first center-return path to calculating the second center-return path, and wherein

when a second pre-determined number of errors are logged, switching from calculating the second center-return path to calculating the third center-return path.

5. The method of claim 1, wherein executing the coverage path further comprises any of:

moving the robotic device to the center of the working zone by retracing the coverage path before executing the adapted coverage path;

moving the robotic device directly to the center of the working zone from the current location before executing the adapted coverage path;

moving the robotic device directly to the third side of a triangular path from the current location before executing the adapted coverage path; and

turning the robotic device a pre-set number of degrees, calculating a new triangular path until an unobstructed path is found, before executing the adapted coverage path.

6. A computing device program product for automated robotic movement for a robotic device using an electronic computing device, the computing device program product comprising:

a non-transitory computer readable medium;

first programmatic instructions for causing the electronic computing device to establish a portion of a work area as a working zone;

second programmatic instructions for measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone;

in a third step, wherein more than a predefined number of obstacles are detected within predefined minimum distance of the robotic device and which obstacles are a preset number of degrees apart from one another, third programmatic instructions for establishing a coverage path that accounts for all detected obstacles, wherein the third programmatic instructions for establishing the coverage path that accounts for any detected obstacles further comprises;

calculating a center-return path defined by a plurality of substantially collision-free point-to-point paths comprised of a maximum turning angle and a plurality of straight lines each having a measured length with respect to the detected obstacles, and wherein executing the coverage path proceeds from a shortest to a longest of the plurality of straight lines wherein a minimum number of straight lines are shorter than a predefined requirement; and

fourth programmatic instructions for driving the robotic device along the coverage path such that the robotic device covers substantially all of the working zone at least once.

7. The computing device program product of claim 6 wherein establishing the coverage path that accounts for all detected obstacles comprises any of:

calculating a first center-return path, wherein the first center-return path is defined by a plurality of substantially collision-free triangulated paths, and wherein the first center-return path corresponds with a maximum turning angle, a triangle measured size with respect to a tool size of the robotic device and distances to all detected obstacles;

calculating a second center-return path, wherein the second center-return path is defined by a plurality of substantially collision-free isosceles triangulated paths, and wherein the second center-return path corresponds with a maximum turning angle, an isosceles triangle measured size with respect to the tool size of the robotic device and a distance to a first newly detected obstacle; and

calculating a third center-return path, wherein the third center-return path is defined by a plurality of substantially collision-free point-to-point paths, and wherein the third center-return path corresponds with a maximum turning angle and a plurality of straight lines each having a measured size with respect to detected obstacles.

8. The computing device program product of claim 6 wherein the third programmatic instructions for establishing the coverage path that accounts for the new obstacle comprises any of:

calculating a first center-return path, wherein the first center-return path is defined by a plurality of substantially collision-free triangulated paths, and wherein the first center-return path corresponds with a maximum turning angle, a triangle measured size with respect to a tool size of the robotic device and distances to all detected obstacles;

calculating a second center-return path, wherein the second center-return path is defined by a plurality of substantially collision-free isosceles triangulated paths, and wherein the second center-return path corresponds with a maximum turning angle, an isosceles triangle measured size with respect to the tool size of the robotic device and a distance to a first newly detected obstacle; and

calculating a third center-return path, wherein the third center-return path is defined by a plurality of substantially collision-free point-to-point paths, and wherein the third center-return path corresponds with a maximum turning angle and a plurality of straight lines each having a measured size with respect to detected obstacles.

9. The computing device program product of claim 8, wherein

detecting the new obstacle after execution of a planned path has begun causes an error to be logged, wherein

when a first pre-determined number of errors are logged, switching from calculating the first center-return path to calculating the second center-return path, and wherein

when a second pre-determined number of errors are logged, switching from calculating the second center-return path to calculating the third center-return path.

10. The computing device program product of claim 8, wherein executing the coverage path further comprises any of:

moving the robotic device to the center of the working zone by retracing the coverage path before executing the adapted coverage path;

moving the robotic device directly to the center of the working zone from the current location before executing the adapted coverage path;

moving the robotic device directly to the third side of a triangular path from the current location before executing the adapted coverage path; and

turning the robotic device a pre-set number of degrees, calculating a new triangular path until an unobstructed path is found, before executing the adapted coverage path.