Auto-redirecting robot and the method thereof

• US 10,112,306 B2
• Filed: 10/13/2015
• Issued: 10/30/2018
• Est. Priority Date: 07/30/2015
• Status: Active Grant

• Current Assignee: Jason Yan
• Original Assignee: Jason Yan
• Inventors: Yan, Jason
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US14/882,444
• Publication Number:
  US 20170028570A1
• Time in Patent Office: 1,113 Days
• Field of Search: 700253, 700258, 700255, 901 1, 31856812
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/37605 Accuracy, repeatability of machine, robot
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93

Abstract

An auto re-directing robot able to adjust its moving paths automatically and a method thereof are disclosed in present invention. The auto re-directing robot has a control module, which may generate a signal standard value according to the bounced-back signals from an obstacle. Then, the control module determines a keep-away distance between the robot and the obstacle. In the case, the robot needs not to touch the obstacle repeatedly for determining whether it should change its moving path. In addition, when the robot encounters obstacles with different properties, the robot can adapt to change its paths automatically based on the properties of the obstacles.

Claims

1. An auto-redirecting robot, comprising:

a main body;

a control module, wherein said control module is disposed in the main body;

a plurality of driving modules, wherein the plurality of driving modules are disposed in the sides of the main body, characterized in that the control module directs the plurality of driving modules, so that the plurality of driving modules guide the main body to move alongside an obstacle;

a plurality of signal transmitters, wherein the plurality of signal transmitters are disposed in the sides of the main body, characterized in that the plurality of signal transmitters keep sending out signals to the obstacle as the main body is moving alongside said obstacle;

a plurality of signal receivers, wherein the plurality of signal receivers are disposed in the sides of the main body, characterized in that the plurality of signal receivers receive bounced-back signals from the obstacle; and

two sensors, wherein the two sensors are disposed in two-sides of the main body respectively, characterized in that as the main body touches the obstacle and one of the sensors is activated, the control module redirects the plurality of driving modules for moving said main body away from the obstacle;

wherein the control module generates a signal characteristic change based on the bounced-back signals received by the plurality of signal receivers,

and characterized in that the control module generates a signal standard value based on said signal characteristic change and determines a keep-away distance based on the signal standard value,

and characterized in that the control module controls the plurality of driving modules for keeping said keep-away distance between the main body and said obstacle while the main body moves alongside the obstacle, so that the main body needs not to touch the obstacle repeatedly; and

wherein if properties of said obstacle change or the bounced-back signals are inconsistent with the signal standard value, the control module directs the plurality of driving modules for moving the main body towards the obstacle until one of the two sensors is activated by the obstacle, then the control module directs the plurality of driving modules for moving the main body away from the obstacle.

2. The auto-redirecting robot of claim 1, characterized in that the properties of said obstacle comprising the color and the superficial smoothness of the obstacle.

3. The auto-redirecting robot of claim 1, characterized in that if the plurality of signal receivers receive none of the bounced-back signals, the control module directs the plurality of driving modules for redirecting the main body and then move alongside the obstacle.

4. The auto-redirecting robot of claim 1, wherein the control module further comprises a memory module, in which said bounced-back signals, said signal characteristic change and said signal standard value are stored.

5. The auto-redirecting robot of claim 1, wherein the bounced-back signals are infrared radiation, laser, electromagnetic wave or energy beam.

6. A method of robot auto-redirecting, comprising the steps of:

a control module disposed in a main body directing a plurality of driving modules, so that the plurality of driving modules make the main body move alongside an obstacle;

a plurality of signal transmitters disposed in sides of the main body, sending out signals to the obstacle;

a plurality of signal receivers disposed in the sides of the main body, receiving a bounced back signal bounced back by the obstacle;

two sensors disposed in two sides of the main body respectively, as the main body touching the obstacle and one of the sensors being activated, the control module redirecting the plurality of driving modules to move the main body away from the obstacle;

wherein the control module generates a signal characteristic change based on the bounced-back signal received by the plurality of signal receivers,

the control module generates a signal standard value based on the signal characteristic change,

the control module calculates a keep-away distance between the main body and the obstacle based on the signal standard value, and

the control module directs the plurality of driving modules for moving the main body alongside the obstacle from said keep-away distance, so that the main body needs not to touch the obstacle repeatedly;

wherein if properties of said obstacle change or the bounced-back signal is inconsistent with the signal standard value, the control module directs the driving modules for moving the main body towards the obstacle until one of said two sensors is activated by the obstacle, then the control module directs the plurality of driving modules for moving the main body away from the obstacle.

7. The method of robot auto-redirecting of claim 6, further comprising:

the control module setting an instant location as a starting point for the first time any of the sensors touches said obstacle; and

said bounced-back signal being received by the plurality of signal receivers since the main body left the starting point and then said signal characteristic change being generated.

8. The method of robot auto-redirecting of claim 7, further comprising:

one of said two sensors of the main body touching the obstacle multiple times so as to gather said bounced-back signal multiple times,

the control module generating said signal characteristic change based on the bounced-back signal, and

the control module generating said signal standard value based on the signal characteristic change.

9. The method of robot auto-redirecting of claim 6, characterized in that the properties of said obstacle comprising the color and the superficial smoothness of the obstacle.

10. The method of robot auto-redirecting of claim 6, characterized in that if the plurality of signal receivers receive none of the bounced-back signal, the control module directs the plurality of driving modules for redirecting the main body and then move alongside the obstacle.

11. The method of robot auto-redirecting of claim 6, wherein the control module further comprises a memory module, in which said bounced-back signal, said signal characteristic change and said signal standard value are stored.

12. The method of robot auto-redirecting of claim 6, wherein the bounced-back signal is infrared radiation, laser, electromagnetic wave or energy beam.