State detecting method, robot and mobile device

• US 9,623,565 B2
• Filed: 03/13/2015
• Issued: 04/18/2017
• Est. Priority Date: 12/04/2014
• Status: Active Grant

• Current Assignee: MSI Computer Corp. (Micro-Star International Co., Ltd.)
• Original Assignee: MSI Computer Corp. (Micro-Star International Co., Ltd.)
• Inventors: Chen, Yuan-Chen, Jung, Pi-Chang, Hung, Shih-Che
• Primary Examiner(s): Mott, Adam
• Application Number:
  US14/657,503
• Publication Number:
  US 20160158941A1
• Time in Patent Office: 767 Days
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A state detecting method applied to a mobile device includes: arranging a depth sensor at the bottom of the mobile device, obtaining a detection signal of the depth sensor, and determining if the mobile device is in a lifted state, a tilted state, or an edge-bordering state, based on the numerical value of the detection signal of the depth sensor. The lifted state is associated with the mobile device without contacting with a support surface. The tilted status is associated with one end of the mobile device contacting the support surface and the other end of the mobile device without contacting the support surface. The edge-bordering state is associated with the mobile device located at the edge of the support surface. Accordingly, when the mobile device is in any of the aforementioned states, an appropriate response can be implemented.

Claims

1. A method for detecting a state of a mobile device, comprising:

disposing a plurality of depth sensors on a side surface of the mobile device;

obtaining detection signals of the depth sensors; and

determining whether the mobile device is in a lifted state, a tilted state, or an edge-bordering state based on a numerical value of each of the detection signals, wherein the lifted state is defined as the mobile device being suspended off a support surface, the tilted state is defined as one of two ends of the mobile device being suspended off the support surface with the other end of the mobile device contacting the support surface, and the edge-bordering state is defined as the mobile device being adjacent to the edge of the support surface, wherein when a change in the detection signal for some of the depth sensors surpasses a second threshold value, while the rest of the detection signals keep unchanged, the mobile device is determined to be in the tilted state, and when the change in the detection signal for some of the depth sensors surpasses a third threshold value greater than the second threshold value, while the rest of the detection signals keep unchanged, the mobile device is determined to be in the edge-bordering state.

2. The method of claim 1, wherein when the change in the detection signal for each of the depth sensors surpasses a first threshold value, the mobile device is determined to be in the lifted state.

3. The method of claim 1, further comprising:

changing a motion of the mobile device when the mobile device is in the lifted state, the tilted state, or the edge-bordering state.

4. The method of claim 1, further comprising:

issuing a warning when the mobile device is in the lifted state, the tilted state, or the edge-bordering state.

5. The method of claim 1, further comprising:

enabling the mobile device to return to an original location or a previous state, when the mobile device is in the lifted state, the tilted state, or the edge-bordering state.

6. The method of claim 1, further comprising:

obtaining a moving direction and a travelling distance of the mobile device, based on the detection signals of the depth sensors; and

recording a travelled path of the mobile device, based on the moving direction and the travelling distance of the mobile device.

7. The method of claim 1, further comprising:

disposing a shield in front of each of the depth sensors; and

detecting the detection signals of the depth sensors, wherein if the numerical value of one of the detection signals is zero, the mobile device is determined to be in a collision state.

8. A robot, comprising:

a main body;

a moving unit disposed on the underside of the main body;

a plurality of depth sensors disposed on a side surface of the main body; and

a control module electrically connected to the moving unit and the depth sensors, for determining if the robot is in a lifted state, a tilted state, or an edge-bordering state, based on a numerical value of a detection signal of each of the depth sensors, wherein the lifted state is defined as the robot being suspended off a support surface, the tilted state is defined as one of two ends of the robot being suspended off the support surface with the other end of the robot contacting the support surface, and the edge-bordering state is defined as the robot being adjacent to the edge of the support surface, wherein when a change in the detection signal for some of the depth sensors surpasses a second threshold value, while the rest of the detection signals keep unchanged, the robot is determined to be in the tilted state, and when the change in the detection signal for some of the depth sensors surpasses a third threshold value greater than the second threshold value, while the rest of the detection signals keep unchanged, the robot is determined to be in the edge-bordering state.

9. A mobile device, comprising:

a main body;

a plurality of depth sensors disposed on a side surface of the main body; and

a control module electrically connected to the depth sensors, for determining if the mobile device is in a lifted state, a tilted state, or an edge-bordering state, based on a numerical value of a detection signal of each of the depth sensors, wherein the lifted state is defined as the mobile device being suspended off a support surface, the tilted state is defined as one of two ends of the mobile device being suspended off the support surface with the other end of the mobile device contacting the support surface, and the edge-bordering state is defined as the mobile device being adjacent to the edge of the support surface, wherein when a change in the detection signal for some of the depth sensors surpasses a second threshold value, while the rest of the detection signals keep unchanged, the mobile device is determined to be in the tilted state, and when the change in the detection signal for some of the depth sensors surpasses a third threshold value greater than the second threshold value, while the rest of the detection signals keep unchanged, the mobile device is determined to be in the edge-bordering state.