Domestic robotic system and method

• US 10,029,368 B2
• Filed: 11/09/2015
• Issued: 07/24/2018
• Est. Priority Date: 11/07/2014
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: F Robotics Acquisitions Ltd. (Stanley Black & Decker, Inc.)
• Inventors: Wolowelsky, Karni, Abramson, Shai
• Primary Examiner(s): Mancho, Ronnie
• Application Number:
  US14/935,935
• Publication Number:
  US 20160129593A1
• Time in Patent Office: 988 Days
• Field of Search: 700245, 700253
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• 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 9/0003 Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• 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 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A domestic robotic system including a robot having a payload for carrying out a domestic task within a working area. The robot also includes a plurality of sensors, including one or more local environment sensors that are configured to receive signals from exterior sources local to the robot. The system further includes data storage, which is operable to store boundary information that defines the path of a predetermined boundary within which the robot is permitted to move. The robot is programmed to operate in at a reference trail recording mode and a navigation mode. In the reference trail recording mode, the robot moves along a reference trail while receiving sensor information from its sensors, with the path of the reference trail being calculated by the system based on the stored boundary information so as to be spaced apart from the path of the predetermined boundary. Also in the reference trail recording mode, the system stores reference trail information corresponding to a first plurality of points along the reference trail. This reference trail information is derived from the sensor information corresponding to the first plurality of points. In the navigation mode, the robot moves within the working area and navigates by: receiving current sensor information from its sensors; and, when it is in the vicinity of the reference trail, comparing the current sensor information with the reference trail information in order to determine its current position.

Claims

1. A domestic robotic system comprising:

a robot comprising;

a payload configured for performing a task within a working area within which said robot moves to perform said task, said working area associated with a predetermined boundary;

a plurality of sensors, including;

one or more local environment sensors that are configured to receive signals from external sources local to said robot;

data storage configured for storing data including boundary data which defines said predetermined boundary associated with said working area; and

,

at least one processor in communication with the plurality of sensors and the data storage, the at least one processor of the robot programmed to calculate a reference trail using said boundary data, such that said reference trail is spaced apart from said predetermined boundary, and to operate in modes including;

(i) a reference trail data recording mode, wherein;

the robot moves along said reference trail, while the at least one processor receives sensor data from said plurality of sensors; and

,

the at least one processor is programmed to obtain reference trail data from said sensor data; and

the at least one processor is programmed to cause the storing of said reference trail data in the data storage; and

,

(ii) a navigation mode, wherein the robot moves within said working area, the at least one processor programmed to control navigation of the robot by;

receiving sensor data from said plurality of sensors; and

,

when said robot is at a location that is proximate to said reference trail, comparing a portion of said sensor data associated with said location with said stored reference trail data in order to determine a current position of the robot.

2. The domestic robotic system according to claim 1, additionally comprising:

a base station; and

,

wherein the at least one processor is additionally programmed such that, when in said reference trail data recording mode, and the robot is proximate to said base station, the at least one processor recognizes said base station based on data obtained from said local environment sensors, and the at least one processor to calculates a path to the base station based on data obtained from said local environment sensors.

3. The domestic robotic system according to claim 1, additionally comprising:

at least one marker configured for emitting location signals, and,

the at least one processor is additionally programmed to recognize said location signals from said at least one marker, as detected by said local environment sensors.

4. The domestic robotic system according to claim 3, wherein said at least one marker includes a first marker that is proximate to a first end of said reference trail, and the at least one processor is additionally programmed such that:

in said reference trail data recording mode, when the robot is proximate to the first end of said reference trail, the at least one processor controls navigation by the robot by estimating the position of the robot based on said location signals emitted from said first marker.

5. The domestic robotic system according to claim 3, additionally comprising:

a base station including at least one base station marker, said at least one marker comprising said at least one base station marker;

wherein the at least one processor is additionally programmed, such that;

when in said reference trail data recording mode, when the robot is proximate to said base station, the at least one processor recognizes the base station using data obtained from said local environment sensors, and the at least one processor calculates a path to the base station based on data obtained from said local environment sensors; and

,

wherein said local environment sensors include visible light sensors and said at least one base station marker includes a high-contrast pattern detectable by said visible light sensors.

6. The domestic robotic system according to claim 1, additionally comprising:

a base station;

wherein the at least one processor, in said reference trail data recording mode, when said robot is proximate to said base station, is additionally programmed to recognize the base station based on data obtained from said local environment sensors, and to calculate a path to the base station based on data obtained from said local environment sensors; and

,

wherein said reference trail has a start point and an end point, which are substantially co-located and are proximate to said base station.

7. The domestic robotic system according to claim 6, wherein the at least one processor is additionally programmed such that said reference trail includes first portion, which extends from said start point to a mid-point, and a second portion, which extends form said mid-point to said end point, said first portion coextending along said second portion.

8. The domestic robotic system according to claim 7, wherein said start point corresponds to the robot being docked at said base station and wherein the at least one processor is additionally programmed to calibrate said reference trail data based on the assumption that the robot starts and ends at the same location of said reference trail.

9. The domestic robotic system according to claim 1, wherein said plurality of sensors additionally includes:

one or more additional sensors; and

, the at least one processor in said navigation mode, when the robot is distant from said reference trail, is additionally programmed to control navigation by the robot based on a first estimate of a current position of the robot, said first estimate being determined by the at least one processor using data obtained from said additional sensors.

10. The domestic robotic system according to claim 9, wherein the at least one processor is additionally programmed such that said reference trail is calculated so as to be spaced apart from said predetermined boundary by at least the accuracy of said first estimate of the current position of the robot.

11. The domestic robotic system according to claim 10, wherein the at least one processor is additionally programmed such that, in said navigation mode, when the robot is at a location that is proximate to said reference trail, a second estimate of the current position of the robot is determined by comparing sensor data that the at least one processor has just received from said local environment sensors, with said reference trail data, and the at least one processor is additionally programmed to determine a third estimate of the current position of the robot by applying a sensor fusion algorithm to said first estimate and said second estimate and to control navigation by the robot based on said third estimate.

12. The domestic robotic system according to claim 9, wherein, in said reference trail data recording mode, the at least one processor controls navigation by the robot along said reference trail by determining the current position of the robot using sensor information from said additional sensors.

13. The domestic robotic system according to claim 9, wherein said additional sensors comprise at least one of:

at least one sensor operable to sense the relative motion of the robot; and

at least one sensor operable to receive signals from exterior to the robot, with the at least one processor being additionally programmed to determine the current position of the robot, at least in part, based on a time-of-flight for said signals from exterior to the robot or a relative strength of said signals from exterior to the robot.

14. The domestic robotic system according to claim 13, wherein said local environment sensors comprise at least one of:

an array of like sensors;

one or more scanning sensors; and

,

at least one sensor operable to receive signals that are reflected by the environment in response to the action of one or more scanning transmitters, with the robot additionally comprising said one or more scanning transmitters.

15. The domestic robotic system according to claim 1, wherein said local environment sensors comprise:

plural arrays of like sensors, each array having an associated field-of-view.

16. The domestic robotic system according to claim 15, wherein the robot additionally comprises:

a movement system operable to propel the robot in a forward direction along a straight line path or to steer to one side or the other, so as to propel the robot along an arcuate path; and

,

one of said arrays of like sensors is arranged on said robot such that a field-of-view of said array of like sensors is directed substantially in said forward direction; and

,

wherein, the at least one processor is additionally programmed so as to, when in said navigation mode, cause the robot to navigate along a path, which is calculated by the at least one processor such that;

the robot crosses said reference trail at a plurality of crossing points; and

such that, when the robot is at one of said crossing points, the field of view of one of said arrays of like sensors overlaps with at least 50% of the field of view of one of said arrays of like sensors as when the robot was at said one of said crossing points during the reference trail data recording mode.

17. The domestic robotic system according to claim 16, wherein the robot comprises one or more cameras, each of said cameras providing a respective one of said arrays of like sensors.

18. The domestic robotic system according to claim 1, wherein the at least one processor is additionally programmed so as to, when in said navigation mode cause the robot to navigate along a path, which is calculated by the at least one processor such that the robot crosses said reference trail path a at a plurality of crossing points.

19. The domestic robotic system according to claim 18, wherein the at least one processor is additionally programmed such that, at each of said crossing points, the robot crosses said reference trail path at an angle greater than 45°

with respect to the reference trail.

20. The domestic robotic system according to claim 1, wherein the at least one processor is additionally programmed such that the said reference trail consists substantially of straight-line segments.

21. The domestic robotic system according to claim 6, wherein the at least one processor is additionally programmed to calibrate said reference trail data based on the assumption that said start point and said end point are exactly co-located.

22. The domestic robotic system according to claim 8, wherein the at least one processor is additionally programmed to calibrate said reference trail data based on the assumption that said start point and said end point are exactly co-located.

23. The domestic robotic system according to claim 1, wherein the at least one processor is additionally programmed such that said reference trail comprises less than 20 straight line segments.

24. The domestic robotic system of claim 1, wherein the at least one processor is additionally programmed;

to cause the storage of the reference trail data as data corresponding to a first plurality of points along said reference trail in said data storage; and

, to obtain said reference trail data from portions of said sensor data corresponding to said first plurality of points.

25. The domestic robotic system of claim 1, wherein said reference trail data comprises a plurality of portions of reference trail data, and the at least one processor is programmed to obtain each of said portions of reference trail data when in said reference trail data recording mode, with each of said portions of said reference trail data being based on a portion of said sensor data that corresponds to a respective one of a plurality of points on said reference trail.