DISTRIBUTED ROBOTIC GUIDANCE

• US 20110046780A1
• Filed: 08/18/2009
• Published: 02/24/2011
• Est. Priority Date: 08/18/2009
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Granted Patent: US 8,396,597 B2
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

The different illustrative embodiments provide an apparatus that includes a computer system, a number of structured light generators, and a number of mobile robotic devices. The computer system is configured to generate a path plan. The number of structured light generators is configured to project the path plan. The number of mobile robotic devices is configured to detect and follow the path plan.

Claims

1. A method for guiding a mobile robotic device, the method comprising:

receiving commands to generate a guidance projection for a path plan;

responsive to receiving the commands, generating the guidance projection for the path plan using a three-dimensional map; and

projecting the guidance projection onto a contained area.

2. The method of claim 1, wherein generating the guidance projection using the three-dimensional map, further comprises:

creating a first three-dimensional map;

annotating the first three-dimensional map to form a second three-dimensional map;

creating a third three-dimensional map using the second three-dimensional map and current data; and

generating a guidance projection using the third three-dimensional map.

3. The method of claim 2, wherein the step of creating the first three-dimensional map further comprises at least one of:

identifying a number of objects; and

identifying a number of umbral areas.

4. The method of claim 1, wherein the step of generating the guidance projection using the three dimensional map further comprises:

identifying a number of umbral areas;

responsive to identifying the number of umbral areas, creating a number of umbral guides; and

generating the guidance projection using the three-dimensional map and the number of umbral guides.

5. The method of claim 1, wherein the guidance projection comprises a line path.

6. The method of claim 1, wherein the guidance projection comprises a number of behavior codes.

7. The method of claim 6, wherein the number of behavior codes are configured to guide the mobile robotic device after the guidance projection is no longer visible.

8. The method of claim 1, wherein the contained area is at least one of an inside environment and an outside environment.

9. The method of claim 2, further comprising:

creating the first three-dimensional map prior to an occluding season.

10. The method of claim 1, wherein the guidance projection is a structured light projection.

11. A method for navigating a path, the method comprising:

detecting a guidance projection in a contained area;

identifying a path within the guidance projection; and

following the path.

12. The method of claim 11, wherein the guidance projection comprises a line path.

13. The method of claim 11, wherein the guidance projection comprises a number of behavior codes.

14. The method of claim 13, wherein the number of behavior codes comprises at least one of a number of bar codes, a number of line patterns, and a pulse modulation.

15. The method of claim 13, wherein the number of behavior codes comprises a number of umbral guides, and wherein the number of umbral guides are used as landmarks for localization and guidance.

16. The method of claim 11, wherein the step of identifying the path within the guidance projection further includes identifying a number of umbral guides.

17. The method of claim 16, further comprising:

responsive to identifying the number of umbral guides, implementing a number of umbral behaviors.

18. The method of claim 16, further comprising:

using at least one of stereo vision, landmark localization using visual landmarks, proximity data, and odometry data to implement the number of umbral behaviors.

19. An apparatus comprising:

a computer system configured to generate a path plan; and

a number of structured light generators configured to be controlled by the computer system and project the path plan.

20. The apparatus of claim 19, wherein the computer system further comprises:

a user interface;

a mapping, planning, and execution process configured to generate a path plan;

a behavioral codes process configured to be accessed by the mapping, planning, and execution process; and

a monitoring process configured to monitor execution of the path plan by a number of mobile robotic devices.

21. The apparatus of claim 19, wherein each structured light generator in the number of structured light generators further comprises:

a processor unit having a structured light generator process and a monitoring process;

a number of cameras configured to take a number of images of a contained area, wherein the number of images are sent to the monitoring process;

a communications unit; and

a projector configured to project structured light.

22. The apparatus of claim 20, wherein the mapping, planning, and execution process controls the number of structured light generators to project the path plan to control the number of mobile robotic devices.

23. The apparatus of claim 20, wherein the number of mobile robotic devices follow the path plan projected by the number of structured light generators.

24. The apparatus of claim 19, wherein the path plan is at least one of a line path and a number of behavior codes.

25. The apparatus of claim 19, wherein the path plan is used for at least one of guiding a number of mobile robotic devices, projecting decorative displays on a contained area, and providing instructions for the number of mobile robotic devices to continue guidance when the path plan is no longer visible.

26. An apparatus comprising:

a number of mobile robotic devices configured to detect and follow a path plan, wherein a mobile robotic device in the number of mobile robotic devices further comprises;

a sensor system;

a mobility system;

a communications unit; and

a behavior library.

27. The apparatus of claim 26, wherein the sensor system is configured to detect the path plan and includes a number of cameras for taking a number of images of an environment near the mobile robotic device.

28. The apparatus of claim 27, wherein the number of images are sent to a monitoring process.

29. The apparatus of claim 26, wherein the behavior library further comprises:

a tele-operation behavior;

a line following behavior;

a number of umbral behaviors; and

an object avoidance behavior.

30. A computer program product comprising:

a computer recordable media;

computer usable program code, stored on the computer recordable media, for controlling a structured light generator to project a path plan for a mobile robotic device to follow.

31. The computer program product of claim 30, further comprising:

computer usable program code, stored on the computer recordable media, for generating a map for the structured light generator to use in projecting the path plan to control the mobile robotic device as the mobile robotic device follows the path plan.

32. The computer program product of claim 31, wherein the map is a three-dimensional map.

33. The computer program product of claim 31, wherein the step of generating the map further comprises:

computer usable program code, stored on the computer recordable media, for identifying a number of umbral areas and creating a number of umbral guides for the number of umbral areas, wherein the path plan includes the number of umbral guides.

34. The computer program product of claim 30, wherein the path plan is projected onto a contained area.

35. A computer program product comprising:

a computer recordable media;

computer usable program code, stored on the computer recordable media, for controlling a structured light generator to project a path plan and generating a projected code within the path plan that provides guidance instructions to a mobile robotic device.

36. The computer program product of claim 35, wherein the projected code is generated and projected while the path plan to guide the mobile robotic device is visible.

37. The computer program product of claim 36, wherein the mobile robotic device continues to follow the guidance instructions after the path plan is no longer visible.