Multi-function robotic device

• US 7,555,363 B2
• Filed: 09/01/2006
• Issued: 06/30/2009
• Est. Priority Date: 09/02/2005
• Status: Active Grant

• Current Assignee: Vorwerk & Company Interholding Gesellschaft Mit Beschrã¤Nkter Haftung (Vorwerk & Company KG)
• Original Assignee: Neato Robotics, Inc. (Vorwerk & Company KG)
• Inventors: Jayne, William, Gomez, Juan B., Hirschhorn, Linda, Augenbraun, Joe, Pinzarrone, Joseph, Shah, Pankaj, Donaldson, Nick
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Behncke; Christine M
• Application Number:
  US11/515,022
• Publication Number:
  US 20070061040A1
• Time in Patent Office: 1,033 Days
• Field of Search: 901/1, 901/40, 901/50, 901/30, 901/41, 700/245, 700/250, 700/253, 318/568.11, 318/591, 318/590, 318/567.17, 318/576, 318/17, 318/568.1, 318/568.17, 318/568.19, 318/568.23, 152/46, 134/18, 134/56.R, 134/57.R, 483/8, 483/10
• US Class Current: 700/253
• 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 comprising;

a drive mechanism;

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

a sensing apparatus including an optical assembly to provide locality data to said electronics module, the locality data related to a location of said robot in the operating environment, thereby enabling said robot to determine its location in the operating environment independent of calibration with reference to an external source;

a sensor array to provide proximity data to said electronics module, the proximity data related to a position of said robot relative to an obstacle in the operating environment, thereby enabling said robot to avoid obstacles in the operating environment independent of the locality data; and

an attachment mechanism to receive a functional cartridge;

said attachment mechanism being disposed on an interior surface of said body; and

a selectively attachable functional cartridge having mechanical components to perform a function;

said functional cartridge to engage said attachment mechanism and disposed substantially within said body;

wherein mechanical characteristics of said functional cartridge are determined automatically when said functional cartridge is engaged and wherein said robot is selectively reconfigurable to perform the function in accordance with the mechanical characteristics.

2. The multi-function robot of claim 1 wherein the mechanical characteristics cause said robot to perform a mopping function when said functional cartridge is engaged with said body.

3. The multi-function robot of claim 1 wherein the mechanical characteristics cause said robot to perform a vacuuming function when said functional cartridge is engaged with said body.

4. The multi-function robot of claim 1 wherein the mechanical characteristics cause said robot to perform a sweeping function when said functional cartridge is engaged with said body.

5. The multi-function robot of claim 1 wherein a mechanical connection to enable operation of said functional cartridge is made automatically when said functional cartridge is engaged with said body.

6. The multi-function robot of claim 5 wherein said mechanical connection comprises an interface to couple torque from said drive mechanism through said attachment mechanism.

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

8. The multi-function robot of claim 7 wherein said electronics module provides instructions to said drive mechanism in accordance with output from said detector component.

9. The multi-function robot of claim 8 wherein said detector component comprises an optical sensor to identify indicia on said functional cartridge associated with the mechanical characteristics when said functional cartridge is engaged with said body.

10. The multi-function robot of claim 8 wherein said detector component comprises an electrical interface to receive data associated with the mechanical characteristics from a memory in said functional cartridge when said functional cartridge is engaged with said body.

11. The multi-function robot of claim 8 wherein said detector component comprises an input panel to receive input from a user.

12. A multi-function robot comprising:

a body comprising a drive mechanism, an attachment mechanism disposed on an interior surface of said body, and an electronics module to provide instructions to said drive mechanism to position said robot in an operating environment; and

a selectively attachable functional cartridge having mechanical components to perform a function;

said functional cartridge to engage said attachment mechanism and disposed substantially within said body;

wherein mechanical characteristics of said functional cartridge are determined automatically when said functional cartridge is engaged with said attachment mechanism and wherein said robot is selectively reconfigurable to perform the function in accordance with the mechanical characteristics.

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

14. The multi-function robot of claim 13 wherein said electronics module provides instructions to said drive mechanism in accordance with output from said detector component.

15. The multi-function robot of claim 14 wherein said detector component comprises an optical sensor to identify indicia on said functional cartridge associated with the mechanical characteristics when said functional cartridge is engaged with said body.

16. The multi-function robot of claim 14 wherein said detector component comprises an electrical interface to receive data associated with the mechanical characteristics from a memory in said functional cartridge when said functional cartridge is engaged with said body.

17. The multi-function robot of claim 14 wherein said detector component comprises an input panel to receive input from a user.

18. The multi-function robot of claim 12 wherein a mechanical connection to enable operation of said functional cartridge is made automatically when said functional cartridge is engaged with said body.

19. The multi-function robot of claim 18 wherein said mechanical connection comprises an interface to couple torque from said drive mechanism through said attachment mechanism.

20. A cartridge for use in cooperation with an autonomous robot comprising a body and a drive mechanism operative in accordance with instructions from an electronics module to position said body in an operating environment;

said cartridge comprising;

a housing;

a functional mechanism having mechanical components to perform a function;

said functional mechanism disposed substantially within said housing enabling said robot to perform the function in accordance with mechanical characteristics of said functional mechanism;

a mechanical interface to engage an attachment mechanism disposed on an interior surface of said body such that said cartridge is disposed substantially within said body during use; and

means for providing information related to the mechanical characteristics to a detector component associated with said body;

said detector component to provide said electronics module with said information, thereby enabling said electronics module to influence operation of said robot in accordance with the mechanical characteristics.

21. The cartridge of claim 20 wherein said mechanical interface couples torque from said drive mechanism to said functional mechanism.

22. The cartridge of claim 20 wherein said means for providing information comprises optical indicia.

23. The cartridge of claim 22 wherein said optical indicia comprises a bar code.

24. The cartridge of claim 20 wherein said means for providing information comprises an electrical interface and a memory disposed in said cartridge.

25. The cartridge of claim 24 wherein said memory is a read only memory.

26. The cartridge of claim 20 wherein said functional mechanism enables said robot to perform a mopping function.

27. The cartridge of claim 20 wherein said functional mechanism enables said robot to perform a sweeping function.

28. The cartridge of claim 20 wherein said functional mechanism enables said robot to perform a vacuuming function.