Methods and systems for movement of robotic device using video signal

• US 8,423,225 B2
• Filed: 11/11/2009
• Issued: 04/16/2013
• Est. Priority Date: 11/11/2009
• Status: Active Grant

• Current Assignee: Diversey Incorporated (Sealed Air)
• Original Assignee: Intellibot Robotics, LLC
• Inventors: Hillman, Henry L. Jr., Daly, Daniel M., Coffman, Vinton, McCann, Ralph, Herr, Stephen D., Thomas, Kevin L., Knuth, David M. Jr.
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PAYNE, ROBERT T
• Application Number:
  US12/616,452
• Publication Number:
  US 20110112714A1
• Time in Patent Office: 1,252 Days
• Field of Search: 701/26, 700/245, 700/259, 700/253, 180/169, 25/26
• US Class Current: 701/26
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A method of navigating an area using a mobile robotic device may include receiving, from a video camera, information associated with an edge located on a surface, determining, by a mobile robotic device, a position of the mobile robotic device on the surface relative to the edge and using the received information to move the mobile robotic device from the determined position along a path. The path may be substantially parallel to the edge, and may be located a distance from a reference point on the mobile robotic device during movement of the mobile robotic device.

Claims

1. A method of navigating an area using a mobile robotic device, the method comprising:

generating, by a mobile robotic device, a digital representation of a map of an area navigated by the mobile robotic device;

receiving position data from one or more sensors associated with the mobile robotic device;

receiving, from a video camera, information associated with an edge located on a surface of the area, wherein the edge comprises a substantially straight line;

determining, by a mobile robotic device, a current position of the mobile robotic device on the surface relative to the edge;

comparing each of the received information and the received position data to the digital representation of the map to determine which of the received information and the received position data has a least amount of error relative to the current position;

using the received information to move the mobile robotic, device from the current position along a path in response to the received information having the least amount of error, wherein the path is substantially parallel to the edge, wherein the edge is located a distance from a reference point on the mobile robotic device during movement of the mobile robotic device.

2. The method of claim 1, wherein the receiving information comprises receiving information in response to a request for information from the mobile robotic device to the video camera.

3. The method of claim 1, wherein the receiving information comprising receiving one or more of the following:

a slope associated with the edge;

an intercept associated with the edge; and

an error associated with the edge.

4. The method of claim 1, wherein the receiving information associated with an edge comprises continuously receiving information from the video camera over a period of time.

5. A method of navigating an environment using a mobile robotic device, the method comprising:

sending, to as video camera, one or more instructions to search for a color in an area having a color value that is within a tolerance range;

receiving from the video camera, information associated with at least is portion of the area that corresponds to the color value; and

using the received information to adjust is current position of the mobile robotic device.

6. The method of claim 5, wherein the received information comprises one or more of the following:

coordinates associated with as substantially center portion of the area;

coordinates associated with one or more corners of a rectangle that surrounds the area;

a number of pixels of the color within the area; and

a numerical value associated with a detected color.

7. The method of claim 5, wherein using the received information to adjust a current position of the mobile robotic device comprises:

comparing the received information and position data received from one or more sensors associated with the mobile robotic device to a digital representation of a map of the environment to determine whether the received information is more accurate than the received position data;

and if so, adjusting the current position based on the received information.

8. The method of claim 5, wherein using the received information to adjust a current position of the mobile robotic device comprises:

determining an estimated location of the mobile robotic device;

using the received information to determine an actual location of the mobile robotic device; and

if the estimated location differs from the actual location, moving the mobile robotic device to the estimated location.

9. A system for navigating an area using a mobile robotic device, the system comprising:

a mobile robotic device comprising a processing device and a computer-readable storage medium; and

a video camera in communication with the mobile robotic device,

wherein the computer-readable storage medium comprises one or more programming instructions for;

generating, by a mobile robotic device, a digital representation of a map of an area navigated by the mobile robotic device,

receiving position data from one or more sensors associated with the mobile robotic device,

receiving, from the video camera, information associated with an edge located on a surface of the area,

determining a current position of the mobile robotic device on the surface relative to the edge,

comparing each of the received information and the received position data to the digital representation of the map to determine which of the received information and the received position data has a least amount of error relative to the current position,

using the received information to move the mobile robotic device from the current position along a path in response to the received information having the least amount of error, wherein the path is substantially parallel to the edge, wherein the edge is located a distance from a reference point on the mobile robotic device during movement of the mobile robotic device.

10. The system of claim 9, wherein the one or more programming instructions for receiving information comprise one or more programming instructions for receiving information in response to a request for information from the mobile robotic device to the video camera.

11. The system of claim 9, wherein the one or more programming instructions for receiving information comprise one or more programming instructions for receiving one or more of the following:

a slope associated with the edge;

an intercept associated with the edge; and

an error associated with the edge.

12. The system of claim 9, wherein the one or more programming instructions for receiving, information associated with an edge comprise one or more programming instructions for continuously receiving information from the video camera over a period of time.

13. A system for navigating an environment using a mobile robotic device, the system comprising:

a mobile robotic device comprising a processing device and a computer-readable storage medium; and

a video camera in communication with the mobile robotic device;

wherein the computer-readable storage medium comprises one or more programming instructions for;

sending, to the video camera, one or more instructions to search for a color in an area having a color value that is within a tolerance range;

receiving, from the video camera, information associated with at least a portion of the area that corresponds to the color value; and

using the received information to adjust a current position of the mobile robotic device.

14. The system of claim 13, wherein the programming instructions for receiving information comprise one or more programming instructions for receiving one or more of the following:

coordinates associated with a substantially center portion of the area;

coordinates associated with one or more corners of a rectangle that surrounds the area;

a number of pixels of the color within the area; and

a numerical value associated with a detected color.

15. The system of claim 13, wherein the programming instructions for using the received information comprise one or more programming instructions for:

comparing the received information and position data received from one or more sensors associated with the mobile robotic device to a digital representation of a map of the environment to determine whether the received information is more accurate than the received position data and

if so the path based on the received information.

16. The system of claim 13, wherein the programming instructions for using the received information to adjust a current position of the mobile robotic device comprise one or more programming instructions for:

determining an estimated location of the mobile robotic device;

using the received information to determine an actual location of the mobile robotic device; and

if the estimated location differs from the actual location, moving to the estimated location.