User-assisted robot navigation system
First Claim
1. A mobile robot comprising:
- a controllable drive element operable to move the robot over a surface;
at least one sub-surface detector configured to sense the presence of a feature located below the surface over which the robot moves;
a memory coupled to the at least one sub-surface detector for storing data generated by the at least one sub-surface detector; and
a discovery engine coupled to the controllable drive element and to the memory, the discovery engine configured tooperate the controllable drive element to move the robot autonomously according to a predetermined discovery routine within a space,determine a location of at least one obstacle encountered by the robot as the robot moves within the space according to the predetermined discovery routine, the at least one obstacle impeding the movement of the robot within the space,store the determined location of the at least one obstacle in the memory, andprovide the determined location of the at least one obstacle to a management station.
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Accused Products
Abstract
A system and method in which a user and a mobile robot cooperate to create a plan for use by the robot in navigating a space. The robot may include a tracking unit that detects the distance traveled and direction from a starting or home location and orientation. The robot also includes a navigation module that controls the movement of the robot based on a navigation plan received from a robot control utility residing at a workstation operated by the user. The robot further includes a position error correction engine that is configured to correct for position errors that may occur as the robot traverses the space. The position error correction engine receives data from one or more robot sensors that detect structures disposed below the surface over which the robot travels. As the robot encounters obstacles in the space, it enters them on the floor plan. The user then reviews the information added by the robot to the floor plan and accepts, rejects or modifies that information in order to create the navigation plan.
155 Citations
31 Claims
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1. A mobile robot comprising:
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a controllable drive element operable to move the robot over a surface; at least one sub-surface detector configured to sense the presence of a feature located below the surface over which the robot moves; a memory coupled to the at least one sub-surface detector for storing data generated by the at least one sub-surface detector; and a discovery engine coupled to the controllable drive element and to the memory, the discovery engine configured to operate the controllable drive element to move the robot autonomously according to a predetermined discovery routine within a space, determine a location of at least one obstacle encountered by the robot as the robot moves within the space according to the predetermined discovery routine, the at least one obstacle impeding the movement of the robot within the space, store the determined location of the at least one obstacle in the memory, and provide the determined location of the at least one obstacle to a management station. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for programming a mobile robot to navigate a space, the method comprising:
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producing a floor plan of the space to be navigated by the robot; receiving one or more proposed modifications to the floor plan from the robot, the one or more proposed modifications corresponding to a location of at least one obstacle encountered by the robot as it moved about the space during a discovery phase, the at least one obstacle impeding movement of the robot in the space; accepting or rejecting the one or more proposed modifications to the floor plan from the robot; generating, on a processor, a navigation plan for the space; and providing the navigation plan to the robot for use by the robot in navigating the space. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A mobile robot comprising:
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a controllable drive element operable to move the robot over a surface; a memory; a discovery engine coupled to the controllable drive element and to the memory, the discovery engine configured to operate the controllable drive element to move the robot according to a predetermined discovery routine within a space, determine a location of at least one object that is encountered by the robot as the robot moves within the space, and that impedes movement of the robot, store the determined location of the at least one movement impeding object in the memory, and provide the determined location of the at least one movement impeding object to a management station; and a navigation module coupled to the controllable drive element, the navigation module operating the controllable drive element to direct the robot to follow a navigation plan through the space, wherein the navigation plan accounts for the location of the at least one movement impeding obstacle as determined by the discovery engine. - View Dependent Claims (22, 23, 24, 25)
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26. A method for programming a mobile robot to navigate a space, the method comprising:
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traversing, by the mobile robot, at least a portion of the space; determining, by the mobile robot, a location of at least one obstacle in the space as the mobile robot traverses the at least a portion of the space, the at least one obstacle impeding movement of the mobile robot in the at least a portion of the space; storing the determined location of the at least one obstacle in a memory of the mobile robot; providing the determined location of the at least one obstacle from the mobile robot to a management station; generating, at the management station, a navigation plan of the space, the navigation plan accounting for the determined location of the at least one obstacle; providing the navigation plan from the management station to the mobile robot. - View Dependent Claims (27, 28, 29, 30, 31)
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Specification