Robotic activity system using color patterns

• US 9,545,582 B2
• Filed: 08/22/2014
• Issued: 01/17/2017
• Est. Priority Date: 08/23/2013
• Status: Active Grant

• Current Assignee: Evollve, Inc
• Original Assignee: Evollve, Inc
• Inventors: Kroyan, Armen, Stank, Ondej, Abou-Hamda, Nader
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/466,733
• Publication Number:
  US 20150057802A1
• Time in Patent Office: 879 Days
• US Class Current: 1/1
• CPC Class Codes: A63H 17/36 Steering-mechanisms for toy vehicles
• CPC Class Codes: A63H 18/16 Control of vehicle drives by interaction between vehicle and track; Control of track elements by vehicles
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A robotic activity system, which includes a board and an autonomous robotic device, is described herein. The board may display a line and one or more color patterns. The robotic device may traverse the line using one or more integrated sensors. For example, sensor data may include light intensity data for visible light reflected or emitted by the board. The sensor data may be analyzed to 1) ensure the robotic device follows the line and/or 2) detect color sequences associated with color patterns shown on the board. Upon detection of a color sequence, the robotic device may attempt to match the color sequence with a known color pattern definition. The color pattern definition may be associated with a function to be performed by the robotic device. Using multiple sets of color patterns and associated functions allows the robotic device to move in a variable and potentially unpredictable fashion.

Claims

1. A method for driving an autonomous robotic device, comprising:

generating light sensor data by a set of light sensors integrated within a bottom face of the autonomous robotic device, wherein the light sensor data corresponds to detected light that is emitted upward from or is reflected upward from a board upon which the autonomous robotic device is placed;

following, by the autonomous robotic device, a line shown on the board using the light sensor data and thereby causing a color sensor coupled to the bottom face of the autonomous robotic device to be positioned over the line;

generating color data by the color sensor, wherein the color data corresponds to a color of light that is emitted upward from or is reflected upward from the board upon which the autonomous robotic device is placed; and

using the color data to detect, by the autonomous robotic device, a color pattern included in the line shown on the board;

comparing, by the autonomous robotic device, the color pattern against a set of color pattern definitions;

determining, by the autonomous robotic device, a match between the color pattern and a color pattern definition from the set of color pattern definitions;

determining, by the autonomous robotic device, a function associated with the matched color pattern definition; and

performing, by the autonomous robotic device, the function associated with the matched color pattern definition.

2. The method of claim 1, wherein the color pattern represents two or more separately colored sections aligned linearly along the line shown on the board.

3. The method of claim 1, wherein the color pattern represents a single section of the line shown on the board which displays a plurality of colors in a predefined time sequence.

4. The method of claim 1, further comprising:

wherein the color sensor is coupled to the bottom face of the autonomous robotic device at a midpoint of an arrangement of the set of light sensors along the bottom face of the autonomous robotic device and the autonomous robotic device follows the line shown on the board such that the line bisects the arrangement of the set of light sensors along the bottom face of the autonomous robotic device.

5. The method of claim 1, wherein the function is one or more ofaltering the speed of the autonomous robotic device;

2) causing the autonomous robotic device to turn by a specified degree;

3) performing a movement sequence;

4) causing the autonomous robotic device to count a predefined number of objects before performing a movement sequence;

5) flashing a set of lights of the autonomous robotic device;

6) causing the autonomous robotic device to communicate with another device;

7) causing the autonomous robotic device to emit sounds;

8) causing the autonomous robotic device to record sounds; and

9) causing the autonomous robotic device to communicate with an accessory.

6. The method of claim 1, wherein each color pattern definition in the set of color pattern definitions includes a sequence of colors.

13. The method of claim 1, wherein the color sensor is coupled to the bottom face of the autonomous robotic device at a center of rotation of the autonomous robotic device.

14. The method of claim 1, further comprising:

a second color sensor coupled to the bottom face of the autonomous robotic device;

wherein the autonomous robotic device follows the line shown on the board such that the line bisects the color sensor and the second color sensor along the bottom face of the autonomous robotic device.

7. An autonomous robotic device, comprising:

a downward facing color sensor to generate color sensor data corresponding to a sequence of colors in detected light that is emitted upward from or reflected upward from a board upon which the autonomous robotic device is placed;

a pattern-function table to store a set of color pattern definitions and functions corresponding to each color pattern definition, wherein each color pattern definition represents a set of color changes and defines a color pattern;

a pattern recognition unit to

     1) detect the presence of a color pattern on the board based on a detected set of color changes in the color sensor data and

     2) determine a function corresponding to the detected color pattern by comparing the detected set of color changes against the set of color pattern definitions in the pattern-function table to determine a matching color pattern definition and the corresponding function; and

a function control unit to perform the determined function.

8. The autonomous robotic device of claim 7, wherein the downward facing color sensor detects visible light and the color pattern definitions include multiple colors chosen from either a grayscale palette or a red-green-blue palette.

9. The autonomous robotic device of claim 7, wherein, if the determined function is an open buffer function, the autonomous robotic device stores subsequently detected functions and then performs the stored functions following detection of an end buffer function.

10. An article of manufacture, comprising:

a machine-readable storage medium that stores instructions which, when executed by a processor in a robotic computing device,

record light sensor data received from a set of downward facing light sensors integrated within the robotic computing device, wherein the light sensor data corresponds to light emitted upward from or reflected upward by a board on which the robotic computing device is placed;

drive motors integrated within the robotic computing device to follow a line shown on the board based on the light sensor data and thereby position a downward facing color sensor, integrated within the robotic computing device, over the line;

record color sensor data received from the color sensor, wherein the color sensor data corresponds to a color of light that is emitted upward from or is reflected upward from the board upon which the robotic computing device is placed;

detect a color pattern included in the line shown on the board using the color sensor data;

determine that the color pattern corresponds to a color pattern definition; and

perform a function associated with the color pattern definition.

11. The article of manufacture of claim 10, wherein the function is one or more ofaltering the speed of the robotic computing device;

2) causing the robotic computing device to turn by a specified degree;

3) performing a movement sequence;

4) causing the robotic computing device to count a predefined number of objects before performing a movement sequence;

5) flashing a set of lights of the robotic computing device;

6) causing the robotic computing device to communicate with another device;

7) causing the robotic computing device to emit sounds;

8) causing the robotic computing device to record sounds; and

9) causing the robotic computing device to communicate with an accessory.

12. The article of manufacture of claim 10, wherein the color sensor data corresponds to color patterns shown linearly or during a time period on the board and detected using the color sensor of the robotic computing device.