DIGITAL MAP UTILIZATION IN THE AUTOMATIC EXECUTION OF A SERVICE AREA PLAN BY A SERVICE ROBOT

• US 20180339409A1
• Filed: 08/01/2018
• Published: 11/29/2018
• Est. Priority Date: 01/06/2015
• Status: Abandoned Application

• Current Assignee: Nexus Robotics LLC
• Original Assignee: Discovery Robotics
• Inventors: Williams, Larry J., Rajendran, Vivek, Shah, Hardik, Kadem, Dharmateja, Blum, Jeffrey, Shah, Ishit, Bal, Manomit, Ulm, Britta Kathleen, Callen, David, Kumar, Sujith Vijaya, Kumar, Naman
• Application Number:
  US16/051,824
• Publication Number:
  US 20180339409A1
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/028 using a RF signal

Abstract

A method and system for a reconfigurable robotic platform through a plurality of interchangeable service modules and adapted to engage in both autonomous and interactive maintenance and monitoring of a service area, the robotic platform configured to sense objects in the service area utilizing the at least one sensor, derive a service plan for the service area comprising at least one service task based, at least in part, on real-time sensing of the service area and a stored digital map of the service area, wherein the navigation system utilizes the digital map and the real-time sensing to navigate within the service area during execution of the service plan, and operate the robotic device to provide a service task to a generally planar surface proximate the robotic device in accordance with the service plan.

Claims

1. A robotic device comprising:

a propulsion mechanism to move the robotic device;

at least one sensor for sensing objects in a service area;

a navigation system utilizing the at least one sensor and a digital map for navigating the robotic device within the service area; and

a processing facility comprising a processor and a memory, the processing facility storing a set of instructions that, when executed, cause the robotic device to;

sense objects in the service area utilizing the at least one sensor,

derive a service plan for the service area comprising at least one service task based, at least in part, on real-time sensing of the service area and a stored digital map of the service area, wherein the navigation system utilizes the digital map and the real-time sensing to navigate within the service area during execution of the service plan, and

operate the robotic device to provide a service task to a generally planar surface proximate the robotic device in accordance with the service plan.

2. The robotic device of claim 1, wherein the at least one sensor is one of a 3D LIDAR system and a stereoscopic imaging system.

3. The robotic device of claim 1, wherein the set of instructions that, when executed, cause the robotic device to dynamically update the stored digital map to create an updated digital map based on the real-time sensing of the service area.

4. The robotic device of claim 3, wherein the set of instructions that, when executed, cause the robotic device to utilize the updated digital map to perform a future service to the service area.

5. The robotic device of claim 3, wherein the set of instructions that, when executed, cause the robotic device to update the stored digital map based upon a repeated appearance of a sensed obstacle, wherein the sensed obstacle becomes a new feature of the updated digital map.

6. The robotic device of claim 1, wherein the stored digital map identifies at least one of a layout, a feature, a dimension, and a surface characteristic of the service area.

7. The robotic device of claim 1, wherein the stored digital map includes an identification of a service area feature and performing of the service plan includes navigating the robotic device in the service area as limited by the service area feature utilizing the stored digital map and the real-time sensing.

8. The robotic device of claim 7, wherein the service area feature is a wall within the service area, and the service plan is executed in part by the robotic device navigating along the wall.

9. The robotic device of claim 7, wherein the service area feature is an object within the service area, and the service plan is executed in part by the robotic device navigating around the object.

10. The robotic device of claim 1, wherein the set of instructions that, when executed, cause the robotic device to autonomously navigate in the service area based at least in part on the real-time sensing of a wall or an object in the service area.

11. The robotic device of claim 1, the robotic device further comprising a main robotic device portion and a service module portion, the service module portion adapted to perform the service task, wherein the service module portion is removable from the main robotic device portion.

12. A method comprising:

sensing objects in a service area by a robotic device utilizing at least one sensor, the robotic device comprising a propulsion mechanism, at least one sensor, and a navigation system;

derive a service plan for the service area comprising at least one service task based, at least in part, on real-time sensing of the service area and a stored digital map of the service area, wherein the navigation system utilizes the stored digital map and the real-time sensing to navigate within the service area during execution of the service plan; and

operate the robotic device to provide a service task to a generally planar surface proximate the robotic device in accordance with the service plan.

13. The method of claim 12, wherein the at least one sensor is one of a 3D LIDAR system and a stereoscopic imaging system.

14. The method of claim 12, wherein the robotic device dynamically updates the stored digital map to create an updated digital map based on the real-time sensing of the service area.

15. The method of claim 14, wherein the robotic device utilizes the updated digital map to perform a future service to the service area.

16. The method of claim 14, wherein the robotic device updates the stored digital map based upon a repeated appearance of a sensed obstacle, wherein the sensed obstacle becomes a new feature of the updated digital map.

17. The method of claim 12, wherein the stored digital map identifies at least one of a layout, a feature, a dimension, and a surface characteristic of the service area.

18. The method of claim 12, wherein the stored digital map includes an identification of a service area feature and performing of the service plan includes navigating the robotic device in the service area as limited by the service area feature utilizing the stored digital map and the real-time sensing.

19. The method of claim 18, wherein the service area feature is a wall within the service area, and the service plan is executed in part by the robotic device navigating along the wall.

20. The method of claim 18, wherein the service area feature is an object within the service area, and the service plan is executed in part by the robotic device navigating around the object.

21. The method of claim 12, wherein the robotic device is autonomously navigated in the service area based at least in part on the real-time sensing of a wall or an object in the service area.

22. The method of claim 12, the robotic device further comprising a main robotic device portion and a service module portion, the service module portion adapted to perform the service task, wherein the service module portion is removable from the main robotic device portion.