Multi-function robotic device

• US 20070061040A1
• Filed: 09/01/2006
• Published: 03/15/2007
• Est. Priority Date: 09/02/2005
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Home Robots, Inc.
• Inventors: Augenbraun, Joe, Pinzarrone, Joseph, Shah, Pankaj, Jayne, William, Donaldson, Nick, Hirschhorn, Linda, Gomez, JB
• Granted Patent: US 7,555,363 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/225 Convertible suction cleaners, i.e. convertible between different types thereof, e.g. from upright suction cleaners to sledge-type suction cleaners
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05B 2219/36513 Select out of a plurality of programs, patterns
• CPC Class Codes: G05B 2219/40095 Modify tasks due to modular tooling, other fixture configuration, environment
• CPC Class Codes: G05B 2219/40423 Map task space to sensor space
• CPC Class Codes: G05B 2219/40506 Self motion topology knowledge, configuration mapping
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A multi-function robotic device may have utility in various applications. In accordance with one aspect, a multi-function robotic device may be selectively configurable to perform a desired function in accordance with the capabilities of a selectively removable functional cartridge operably coupled with a robot body. Localization and mapping techniques may employ partial maps associated with portions of an operating environment, data compression, or both.

Claims

1. A multi-function robot comprising:

a body having a drive mechanism; and

a functional cartridge coupled to said body, wherein the robot is selectively configured to perform a function in accordance with characteristics of said functional cartridge.

2. The multi-function robot of claim 1 wherein said body further comprises an electronics module to provide instructions to said drive mechanism to position the robot in an operating environment.

3. The multi-function robot of claim 2 wherein said body further comprises a sensing apparatus to provide data to said electronics module, said data related to a position of the robot relative to an object in the operating environment.

4. The multi-function robot of claim 3 wherein said sensing apparatus comprises an optical assembly and wherein said data are optical data.

5. The multi-function robot of claim 4 wherein said instructions are influenced by said optical data.

6. The multi-function robot of claim 3 wherein said sensing apparatus comprises a proximity sensor and wherein said data are proximity data.

7. The multi-function robot of claim 6 wherein said instructions are influenced by said proximity data.

8. The multi-function robot of claim 1 wherein said characteristics cause the robot to perform a mopping function when said functional cartridge is coupled to said body.

9. The multi-function robot of claim 1 wherein said characteristics cause the robot to perform a vacuuming function when said functional cartridge is coupled to said body.

10. The multi-function robot of claim 1 wherein said characteristics cause the robot to perform a sweeping function when said functional cartridge is coupled to said body.

11. The multi-function robot of claim 1 wherein mechanical connections to enable operation of said functional cartridge are made automatically when said functional cartridge is coupled to said body.

12. The multi-function robot of claim 1 wherein said body further comprises a detector component to identify said characteristics of said functional cartridge.

13. A robotic device comprising:

a drive mechanism;

an electronics module to provide instructions to said drive mechanism to position the robotic device in an operating environment;

an optical assembly to provide optical data to said electronics module, said optical data related to a position of the robotic device relative to an object in the operating environment and influencing said instructions provided to said drive mechanism; and

a selectively attachable functional cartridge establishing a functionality of the robotic device, wherein the robotic device is selectively configured to perform a function in accordance with characteristics of said functional cartridge.

14. The robotic device of claim 13 further comprising a detector component to identify said characteristics of said functional cartridge.

15. The robotic device of claim 13 wherein mechanical connections to enable operation of said functional cartridge are made automatically when said functional cartridge is attached.

16. The robotic device of claim 15 wherein said mechanical connections are coupled to said drive mechanism.

17. The robotic device of claim 13 wherein an electrical connection to enable operation of said functional cartridge is made automatically when said functional cartridge is attached.

18. The robotic device of claim 17 wherein said electrical connection is coupled to a power supply carried by the robotic device.

19. The robotic device of claim 17 wherein said electrical connection enables bi-directional data communication between said functional cartridge and said electronics module.

20. The robotic device of claim 19 wherein said electronics module identifies said characteristics of said functional cartridge in accordance with data received via said electrical connection.

21. A multi-function robot comprising:

a body comprising;

a drive mechanism;

an electronics module to provide instructions to said drive mechanism to position the robot in an operating environment;

a sensing apparatus to provide data to said electronics module, said data related to a position of the robotic device relative to an object in the operating environment;

a sensor array to provide proximity data to said electronics module, said proximity data related to a position of the robotic device relative to an obstacle in the operating environment; and

an attachment mechanism to receive a functional cartridge; and

a selectively attachable functional cartridge to engage said attachment mechanism;

wherein the robot is selectively reconfigurable to perform a function in accordance with characteristics of said functional cartridge.

22. The multi-function robot of claim 21 wherein said body further comprises a detector component to identify said characteristics of said functional cartridge.