System and method for planning and indirectly guiding robotic actions based on external factor tracking and analysis

• US 20070150094A1
• Filed: 12/23/2005
• Published: 06/28/2007
• Est. Priority Date: 12/23/2005
• Status: Abandoned Application

• Current Assignee: Palo Alto Research Center, Inc. (Xerox Holdings Corp.)
• Original Assignee: Palo Alto Research Center, Inc. (Xerox Holdings Corp.)
• Inventors: Huang, Qingfeng, Cheung, Patrick, Reich, James
• Application Number:
  US11/317,732
• Publication Number:
  US 20070150094A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A system and method for guiding robotic actions based on external factor tracking and analysis is presented. External factors affecting a defined physical space are tracked through a stationary environmental sensor. The external factors are analyzed to determine one or more of activity levels and usage patterns occurring within the defined physical space. At least one of movements and actions to be performed by a mobile effector that operates untethered from the stationary environmental sensor within the defined physical space are determined. The movements and actions are autonomously executed in the defined physical space through the mobile effector.

Claims

1. A system for planning and indirectly guiding robotic actions based on external factor tracking and analysis, comprising:

an observation device to track external factors affecting a defined physical space through a stationary environmental sensor; and

a processor, comprising;

an analyzer to analyze the external factors to determine one or more of activity levels and usage patterns occurring within the defined physical space; and

a planner to determine at least one of movements and actions to be performed by a mobile effector that operates untethered from the stationary environmental sensor within the defined physical space, wherein the movements and actions are autonomously executed in the defined physical space through the mobile effector.

2. A system according to claim 1, wherein the tracking is performed on at least one of a continual, intermittent, and on-demand basis.

3. A system according to claim 1, wherein the movements and actions are defined to include at least one of coverage of movement or action and frequency of movement or action within the defined physical space.

4. A system according to claim 1, wherein the observation device is further configured to track the movements and actions performed by the mobile effector through the stationary environmental sensor and the processor is further configured to process at least one of verifying the movements and actions based on the tracking;

and modifying the movements and actions based on the tracking.

5. A system according to claim 1, wherein the processor is further configured to process at least one of observation data provided by the stationary environmental sensor and feedback provided by the mobile effector while the movements and actions are performed by the mobile effector.

6. A system according to claim 1, wherein the actions are selected from the group comprising cleaning, sensing, and directly operating on the defined physical space.

7. A system according to claim 1, wherein the stationary environmental sensor comprises a video camera.

8. A method for planning and indirectly guiding robotic actions based on external factor tracking and analysis, comprising:

tracking external factors affecting a defined physical space through a stationary environmental sensor;

analyzing the external factors to determine one or more of activity levels and usage patterns occurring within the defined physical space;

determining at least one of movements and actions to be performed by a mobile effector that operates untethered from the stationary environmental sensor within the defined physical space; and

autonomously executing the movements and actions in the defined physical space through the mobile effector.

9. A method according to claim 8, further comprising:

performing the tracking on at least one of a continual, intermittent, and on-demand basis.

10. A method according to claim 8, further comprising:

defining the movements and actions to include at least one of coverage of movement or action and frequency of movement or action within the defined physical space.

11. A method according to claim 8, further comprising:

tracking the movements and actions performed by the mobile effector through the stationary environmental sensor; and

processing, comprising at least one of;

verifying the movements and actions based on the tracking; and

modifying the movements and actions based on the tracking.

12. A method according to claim 8, further comprising:

processing at least one of observation data provided by the stationary environmental sensor and feedback provided by the mobile effector while the movements and actions are performed by the mobile effector.

13. A method according to claim 8, wherein the actions are selected from the group comprising cleaning, sensing, and directly operating on the defined physical space.

14. A method according to claim 8, wherein the stationary environmental sensor comprises a video camera.

15. A computer-readable storage medium holding code for performing the method according to claim 8.

16. A system for planning and indirectly guiding robotic actions based on external factors and movements and actions, comprising:

a mobile effector that operates untethered within a defined physical space;

an observation device to track external factors affecting the defined physical space and movements and actions performed by the mobile effector in the defined physical space through a stationary environmental sensor;

an analyzer to analyze the external factors and the movements and actions to determine activity levels and usage patterns occurring within the defined physical space;

a planner to plan further movements and actions to be performed by the mobile effector based on the activity levels and usage patterns; and

an interface to communicate the further movements and actions to the mobile effector for autonomous execution.

17. A system according to claim 16, further comprising:

a verifier to verify the further movements and actions of the mobile effector based on the tracking during further planning.

18. A system according to claim 16, wherein the tracking is performed on at least one of a continual, intermittent, and on-demand basis.

19. A system according to claim 16, wherein the analyzer is further configured to analyze observation data provided by the stationary environmental sensor and feedback provided by the mobile effector while the further movements and actions are performed by the mobile effector.

20. A system according to claim 16, wherein the defined physical space is represented by at least one of a two-dimensional planar projection or a three-dimensional surface projection.

21. A method for planning and indirectly guiding robotic actions based on external factors and movements and actions, comprising:

providing a mobile effector that operates untethered within a defined physical space;

tracking through a stationary environmental sensor external factors affecting the defined physical space and movements and actions performed by the mobile effector in the defined physical space;

analyzing the external factors and the movements and actions to determine activity levels and usage patterns occurring within the defined physical space;

planning further movements and actions to be performed by the mobile effector based on the activity levels and usage patterns; and

communicating the further movements and actions to the mobile effector for autonomous execution.

22. A method according to claim 21, further comprising:

verifying the further movements and actions of the mobile effector based on the tracking during further planning.

23. A method according to claim 21, further comprising:

performing the tracking on at least one of a continual, intermittent, and on-demand basis.

24. A method according to claim 21, further comprising:

analyzing observation data provided by the stationary environmental sensor and feedback provided by the mobile effector while the further movements and actions are performed by the mobile effector.

25. A method according to claim 21, wherein the defined physical space is represented by at least one of a two-dimensional planar projection or a three-dimensional surface projection.

26. A computer-readable storage medium holding code for performing the method according to claim 21.