Apparatus for guiding an autonomous vehicle towards a docking station

• US 10,175,696 B2
• Filed: 04/25/2014
• Issued: 01/08/2019
• Est. Priority Date: 05/10/2013
• Status: Expired due to Fees

• Current Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Original Assignee: Dyson Technology Limited (Beeswax Holdings UK Limited)
• Inventors: Aldred, Michael David, Edwards-Parton, Simon
• Primary Examiner(s): Merlino, David P.
• Application Number:
  US14/890,414
• Publication Number:
  US 20160091899A1
• Time in Patent Office: 1,719 Days
• Field of Search: None
• 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 9/1697 Vision controlled systems
• CPC Class Codes: B60L 1/003 to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60L 2250/12 by confirmation, e.g. of the input
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers.

Claims

1. An apparatus for guiding an autonomous vehicle towards a docking station comprising:

an autonomous vehicle provided with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system; and

a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker;

wherein the control system is configured to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the docking station based on a difference between the representation of the first and second fiducial markers in the image and the predetermined relative spacing between the first and second fiducial markers, and

wherein the control system is configured to;

compare a relative distance between the representation of the first fiducial marker and the representation of the second fiducial marker in the image with a predetermined threshold value,

in response to determining that the relative distance is less than the predetermined threshold value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a first movement, and

in response to determining that the relative distance is greater than the predetermined value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a second movement that is different than the first movement.

2. The apparatus of claim 1, wherein the control system is further configured to:

store data relating to the predetermined relative spacing between the first fiducial marker and the second fiducial marker;

search for and identify the representation of the first and second fiducial markers in the image;

evaluate a relative position of the first and second fiducial markers in the image;

compare the evaluated relative position of the first and second fiducial markers to the predetermined relative position of the first and second fiducial markers;

control the drive system in dependence on the comparison in order to guide the autonomous vehicle towards the docking station.

3. The apparatus of claim 1, wherein the control system is configured to compare a horizontal alignment between the first and second fiducial markers in the image.

4. The apparatus of claim 1, wherein the first fiducial marker and the second fiducial marker are located on a display portion of the docking station that is in an upright orientation when the docking station is placed on a floor surface.

5. The apparatus of claim 4, wherein the display portion of the docking station that carries the first and second fiducial markers is planar.

6. The apparatus of claim 1, wherein each of the first and second fiducial markers defines a pattern, and wherein the pattern of the first fiducial marker is the same as the pattern of the second fiducial marker.

7. The apparatus of claim 6, wherein the pattern is a grid comprising four squares in a two-by-two arrangement, wherein alternate squares in the grid are contrasting colors.

8. The apparatus of claim 1, wherein each of the first and second fiducial markers defines a pattern, and wherein the pattern of the first fiducial marker is the mirror image of the pattern of the second fiducial marker.

9. The apparatus of claim 1, wherein the camera-based sensing system includes an omni-directional camera.

10. The apparatus of claim 1, wherein the vehicle is an autonomous surface treating appliance.

11. The apparatus of claim 1, wherein the first movement drives the autonomous vehicle closer to the docking station.

12. The apparatus of claim 11, wherein the predetermined threshold value is a predetermined minimum threshold value.

13. The apparatus of claim 1, wherein the second movement drives the autonomous vehicle away from the docking station.

14. The apparatus of claim 1, wherein the control system is configured to control the drive system to drive the autonomous vehicle laterally with respect to the docking station in response to determining that the relative distance between the first fiducial marker and the second fiducial marker in the image is greater than a predetermined minimum threshold value and less than a predetermined maximum threshold value without performing any geometrical calculation using either of the predetermined minimum threshold value or the predetermined maximum threshold value.

15. A method of controlling an autonomous vehicle to guide the vehicle towards a docking station, the docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, the method comprising:

capturing an image, by a camera-based sensing system of the autonomous vehicle, the image including a representation of the first fiducial marker and the second fiducial marker; and

controlling a drive system of the autonomous vehicle, by a control system of the autonomous vehicle, so as to guide the autonomous vehicle towards the docking station based on a difference between the representation of the first and second fiducial markers in the image and the predetermined relative spacing between the first and second fiducial markers by;

comparing a relative distance between the representation of the first fiducial marker and the representation of the second fiducial marker in the image with a predetermined threshold value,

in response to determining that the relative distance is less than the predetermined threshold value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a first movement, and

in response to determining that the relative distance is greater than the predetermined value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a second movement that is different than the first movement.

16. The method of claim 15, further comprising:

storing data relating to the predetermined relative spacing between the first fiducial marker and the second fiducial marker;

searching for and identifying the representation of the first and second fiducial markers in the image;

evaluating a relative position of the first and second fiducial markers in the image;

comparing the evaluated relative position of the first and second fiducial markers to the predetermined relative position of the first and second fiducial markers;

controlling the drive system in dependence on the comparison in order to guide the autonomous vehicle towards the docking station.

17. The method of claim 15, including comparing a horizontal alignment between the first and second fiducial markers in the image.

18. A non-transitory computer readable medium comprising program code instructions that, when carried out on an autonomous vehicle, cause the autonomous vehicle to:

capture an image, by a camera-based sensing system of the autonomous vehicle, of a docking station that includes a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker and the image includes a representation of the first fiducial marker and the second fiducial marker; and

control a drive system of the autonomous vehicle, by a control system of the autonomous vehicle, so as to guide the autonomous vehicle towards the docking station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers by;

comparing a relative distance between the representation of the first fiducial marker and the representation of the second fiducial marker in the image with a predetermined threshold value,

in response to determining that the relative distance is less than the predetermined threshold value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a first movement, and

in response to determining that the relative distance is greater than the predetermined value without performing any geometrical calculation using the predetermined threshold value, control the drive system to cause the autonomous vehicle to perform a second movement that is different than the first movement.