Programmable robotic apparatus

• US 8,983,776 B2
• Filed: 04/26/2007
• Issued: 03/17/2015
• Est. Priority Date: 03/28/2002
• Status: Expired due to Fees

• Current Assignee: Jason A. Dean
• Original Assignee: Jason A. Dean
• Inventors: Dean, Jason A.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US11/740,654
• Publication Number:
  US 20070260394A1
• Time in Patent Office: 2,882 Days
• Field of Search: 700/245, 700/251, 701/207, 701/200, 901/1
• US Class Current: 701/514
• CPC Class Codes: G01C 21/00 Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 measuring distance traversed on the ground by a vehicle G01C22/00; control of position, course, altitude or attitude of vehicles G05D1/00; traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robotic apparatus for traversing a selected area autonomously that senses orientation relative to “environmental” signals. The robotic apparatus is provided in two models, a master that can record directive and “environmental signal” readings, or that can record received location information, to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task.

Claims

1. A programmable robotic apparatus comprising:

at least two programmable platforms located within an area in which at least one location of interest is to be identified, each programmable platform having a laser mounted thereon, said laser configured to emit a laser beam configured to be emitted along a plurality of lines within a plane;

a receiver configured to receive a command from a user;

a computer coupled to said receiver and to each of said at least two programmable platforms, said computer configured to control said at least two platforms to operate each of said lasers mounted on said at least two programmable platforms to designate said location of interest as a location at which an emitted laser beam from a first of said at least two programmable platforms intersects an emitted laser beam from a second of said at least two programmable platforms;

a drive system and a drive mechanism configured to provide a selected one of said at least two programmable platforms with mobility;

a control module in electrical communication with said drive system, said control module configured to command the motion of the programmable robotic apparatus;

a memory module in electrical communication with said control module, said memory module configured to store and retrieve information;

a transmitter in electrical communication with said control module, said transmitter configured to transmit a signal comprising at least a unique identifier associated with the robotic apparatus; and

a receiver in electrical communication with said control module, said receiver configured to receive a signal comprising location information;

whereby said programmable robotic apparatus is able to discern at least one of a location and an orientation of said programmable robotic apparatus.

2. The programmable robotic apparatus of claim 1, wherein said apparatus is configured to operate autonomously based at least in part on information stored in said memory module.

3. The programmable robotic apparatus of claim 1, wherein said memory module is selected from the group consisting of a magnetic tape, a floppy disc, a hard disc, a CD-ROM, a CD-RW disc, RAM, EPROM, EEPROM, and a flash memory.

4. The programmable robotic apparatus of claim 1, wherein said programmable robotic apparatus is configured to discern at least one of a location and an orientation based on a reception or a transmission of at least one terrestrial environmental signal.

5. The programmable robotic apparatus of claim 1, wherein said at least one terrestrial environmental signal comprises one or more of a cellular telephone communication signal, a radio broadcast signal, and a television broadcast signal.

6. The programmable robotic apparatus of claim 1, further comprising a command receiver module in electrical communication with said control module.

7. The programmable robotic apparatus of claim 6, wherein said command receiver module is configured to receive signals from a portable transmitter.

8. A method of providing at least one command recorded on a machine-readable medium, the at least one command representing an instruction for traversing an area of interest, the method comprising the steps of:

providing a programmable robotic apparatus according to claim 1;

operating said programmable robotic apparatus under external control, the programmable robotic apparatus receiving directives from an external source and traversing an area of interest;

taking readings from a receiver of said programmable robotic apparatus said receiver configured to receive a signal comprising location information; and

recording said directives and readings on a machine-readable medium for later recovery.

9. The method of claim 8, wherein said directives are recorded in the format in which said directives are received.

10. The method of claim 8, wherein said directives are recorded in a different format from the format in which said directives are received.

11. A computer program recorded on a machine-readable medium for control of a programmable robotic apparatus according to claim 1, said computer program comprising:

a supervisory module that controls the autonomous operation of a programmable robotic apparatus of claim 1 and that, as required, receives information recorded on a machine-readable medium;

an orientation receiver module that derives orientation information from a signal received by a receiver of said programmable robotic apparatus, and

a computation module that computes an error signal based at least in part on orientation information derived from said environmental signal detection module and information recorded on said machine-readable medium.

12. The computer program of claim 11, further comprising:

an instruction receiver module that receives directives from an external source regarding operation of said programmable robotic apparatus.

13. The computer program of claim 11, further comprising:

an error correction module that, in the event that said error signal exceeds a predetermined value, computes an error correction to be provided as a corrective action command to said programmable robotic apparatus.

14. The programmable robotic apparatus of claim 1, further comprising a plan drawing of said area in which at least one location of interest is to be identified, said plan drawing configured to be provided to a user in an interactive manner.

15. A method of operating a programmable robotic comprising the steps of:

providing a programmable robotic apparatus, comprising;

at least two programmable platforms located within an area in which at least one location of interest is to be identified, each programmable platform having a laser mounted thereon, said laser configured to emit a laser beam configured to be emitted along a plurality of lines within a plane;

a receiver configured to receive a command from a user; and

a computer coupled to said receiver and to each of said at least two programmable platforms, said computer configured to control said at least two platforms to operate each of said lasers mounted on said at least two programmable platforms to designate said location of interest as a location at which an emitted laser beam from a first of said at least two programmable platforms intersects an emitted laser beam from a second of said at least two programmable platforms;

providing a command issued by a user to said computer by way of said receiver to cause said computer to operate said each of said lasers to provide said designation of said location of interest;

providing to a selected one of said at least two programmable platforms additional apparatus comprising;

a drive system and a drive mechanism configured to provide said selected one of said at least two programmable platforms with mobility;

a control module in electrical communication with said drive system, said control module configured to command the motion of the programmable robotic apparatus;

a memory module in electrical communication with said control module, said memory module configured to store and retrieve information;

a transmitter in electrical communication with said control module, said transmitter configured to transmit a signal comprising at least a unique identifier associated with the robotic apparatus;

a receiver in electrical communication with said control module, said receiver configured to receive a signal comprising location information; and

at least one command recorded on a machine-readable medium, said at least one command representing an instruction for traversing an area of interest;

operating said programmable robotic apparatus according to said at least one command recorded on said machine-readable medium;

discerning at least one of a location and an orientation of said programmable robotic apparatus;

comparing said at least one of said location and said orientation of said programmable robotic apparatus to a corresponding one of a location and a direction recorded in said at least one command to determine an error signal; and

in the event that said error signal exceeds a predetermined value, commanding said programmable robotic apparatus to take a corrective action;

whereby said programmable robotic apparatus autonomously traverses an area of interest.

16. The method of claim 15, wherein the steps of discerning at least one of a location and an orientation, comparing at least one of said location and said orientation, and in the event that said error signal exceeds a predetermined value, commanding said programmable robotic apparatus to take a corrective action, are performed iteratively during a period of operation of said programmable robotic apparatus.

17. The method of operating a programmable robotic apparatus of claim 15, further comprising the step of providing to a user in an interactive manner a plan drawing of said area in which at least one location of interest is to be identified.