Auto-Redirecting Robot and the Method Thereof

• US 20170028570A1
• Filed: 10/13/2015
• Published: 02/02/2017
• Est. Priority Date: 07/30/2015
• Status: Active Grant

• Current Assignee: Jason Yan
• Original Assignee: Jason Yan
• Inventors: Yan, Jason
• Granted Patent: US 10,112,306 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/37605 Accuracy, repeatability of machine, robot
• 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

Abstract

An auto re-directing robot able to adjust its moving paths automatically and a method thereof are disclosed in present invention. The auto re-directing robot has a control module, which may generate a signal standard value according to the bounced-back signals from an obstacle. Then, the control module determines a keep-away distance between the robot and the obstacle. In the case, the robot needs not to touch the obstacle repeatedly for determining whether it should change its moving path. In addition, when the robot encounters obstacles with different properties, the robot can adapt to change its paths automatically based on the properties of the obstacles.

Claims

1. An auto-redirecting robot, comprising:

a main body;

a control module, wherein said control module is disposed inside the main body;

a plurality of driving modules, wherein said driving modules are disposed on the sides of the main body, characterized in that the control module directs said driving modules, which guides the main body to move alongside an obstacle;

a plurality of signal transmitters, wherein said signal transmitters are disposed on the sides of the main body, characterized in that said signal transmitters keep sending out signals to the obstacle as the main body is moving alongside said obstacle;

a plurality of signal receivers, wherein said signal receivers are disposed on the sides of the main body, characterized in that the signal receivers receive a bounced-back signals from the obstacle; and

a plurality of sensors, wherein said sensors are disposed on the sides of the main body, characterized in that as the main body touches the obstacle, the control module redirects the driving modules for moving said main body away from the obstacle;

wherein the control module generates a signal characteristic change based on the bounced-back signals received by the signal receivers,

and characterized in that the control module generates a signal standard value based on said signal characteristic change and determines a keep-away distance based on the signal standard value,

and characterized in that the control module controls said driving modules for keeping said keep-away distance between the main body and said obstacle while the main body moves alongside the obstacle.

2. The auto-redirecting robot of claim 1, characterized in that if the properties of said obstacle change or the bounced-back signal is inconsistent with the signal standard value, the control module directs the driving modules for moving the main body towards the obstacle until one of said sensors is activated by the obstacle, then the control module directs the driving modules for moving the main body away from the obstacle.

3. The auto-redirecting robot of claim 2, characterized in that the properties of said obstacle comprising the color and the superficial smoothness of the obstacle.

4. The auto-redirecting robot of claim 1, characterized in that if the signal receivers receives none of the bounced-back signal, the control module directs the driving modules for redirecting the main body and then move alongside the obstacle.

5. The auto-redirecting robot of claim 1, wherein the control module further comprises a memory module, in which said bounced-back signals, said signal characteristic changes and said signal standard values are stored.

6. The auto-redirecting robot of claim 1, wherein the bounced-back signals are infrared radiation, laser, electromagnetic wave or energy beam.

7. A method of robot auto-redirecting, comprising the steps of:

a control module disposed in a main body directing a plurality of driving modules to make the main body move alongside an obstacle;

a plurality of signal transmitters disposed on the sides of the main body, sending out signals to the obstacle;

a plurality of signal receivers disposed on the sides of the main body, receiving a bounced back signal bounced back by the obstacle;

as one of the sensors, disposed on the sides of the main body, touching the obstacle, the control module redirecting the driving modules to move the main body away from the obstacle;

wherein the control module generates a signal characteristic change based on the bounced-back signals received by the signal receivers,

the control module generates a signal standard value based on the signal characteristic change

the control module calculates a keep-away distance between the main body and the obstacle based on the signal standard value, and

the control module directs the driving modules for moving the main body alongside the obstacle from said keep-away distance.

8. The method of robot auto-redirecting of claim 7, further comprising:

the control module setting the instant location as a starting point for the first time any of the sensors touches said obstacle; and

said bounced-back signals being received by the signal receivers since the main body left the starting point and then said signal characteristic change being generated.

9. The method of robot auto-redirecting of claim 8, further comprising:

said sensors of the main body touching the obstacle multiple times so as to gather multiple said bounced-back signals,

the control module generating said signal characteristic change based on the bounced-back signals, and

the control module generating said signal standard value based on the signal characteristic change.

10. The method of robot auto-redirecting of claim 7, characterized in that if the properties of said obstacle change or the bounced-back signal is inconsistent with the signal standard value, the control module directs the driving modules for moving the main body towards the obstacle until one of said sensors is activated by the obstacle, then the control module directs the driving modules for moving the main body away from the obstacle.

11. The method of robot auto-redirecting of claim 10, characterized in that the properties of said obstacle comprising the color and the superficial smoothness of the obstacle.

12. The method of robot auto-redirecting of claim 7, characterized in that if the signal receivers receives none of the bounced-back signal, the control module directs the driving modules for redirecting the main body and then move alongside the obstacle.

13. The method of robot auto-redirecting of claim 7, wherein the control module further comprises a memory module, in which said bounced-back signals, said signal characteristic changes and said signal standard values are stored.

14. The method of robot auto-redirecting of claim 7, wherein the bounced-back signals are infrared radiation, laser, electromagnetic wave or energy beam.