Method for detecting a measurement error in a robotic cleaning device

• US 10,518,416 B2
• Filed: 12/17/2014
• Issued: 12/31/2019
• Est. Priority Date: 07/10/2014
• Status: Active Grant

• Current Assignee: Aktiebolaget Electrolux
• Original Assignee: Aktiebolaget Electrolux
• Inventors: Haegermarck, Anders
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US15/321,333
• Publication Number:
  US 20170197315A1
• Time in Patent Office: 1,840 Days
• Field of Search: 700259, 700254, 702158
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A robotic cleaning device having a main body, a propulsion system, a contact detecting portion connected to the main body, a dead reckoning sensor operatively connected to the propulsion system and an obstacle detecting device comprising a camera and a first structured light source arranged at a distance from each other on the main body. The robotic cleaning device may further include a processing unit arranged to control the propulsion system. The obstacle detecting device and the processing unit are arranged to estimate a distance to the landmark and to subsequently move the robotic cleaning device into contact with the landmark while measuring an actual distance to the landmark, whereby the actual distance is then compared with the estimated distance to determine a measurement error.

Claims

1. A method for detecting measurement errors in an obstacle detecting device of a robotic cleaning device, the method comprising:

estimating an estimated distance to a landmark by illuminating the landmark with structured light and extracting information from reflections of the structured light;

moving into contact with the landmark while dead reckoning an actual distance to the landmark;

comparing the actual distance with the estimated distance to determine a measurement error in the obstacle detecting device; and

determining whether a vibration sensor detects a vibration above a vibration threshold and/or temperature sensor detects a temperature above or below a temperature threshold, and performing one or more of the estimating, moving and comparing steps if the vibration is above the vibration threshold and/or if the temperature is above or below the temperature threshold.

2. The method according to claim 1, further comprising repeating the estimating, moving and comparing steps a plurality of times by moving back away from the landmark and again into contact with the landmark.

3. The method according to claim 2, further comprising determining whether respective measurement errors generated during each repetition of the estimating, moving and comparing steps are consistent.

4. The method according to claim 3, further comprising adjusting a parameter in a distance calculating algorithm if it is determined that the respective measurement errors are consistent.

5. The method according to claim 4, wherein the parameter in the distance calculating algorithm is a value for an angle at which a structured light source is arranged in relation to a direction of view of the obstacle detecting device.

6. The method according to claim 1, further comprising determining whether a predetermined operating time of the robotic cleaning device has elapsed, and performing one or more of the estimating, moving and comparing steps if the predetermined operating time has elapsed.

7. A robotic cleaning device comprising:

a main body;

a propulsion system arranged to move the robotic cleaning device;

a contact detecting portion connected to the main body and arranged to detect if the robotic cleaning device is in contact with an object;

a dead reckoning sensor operatively connected to the propulsion system;

an obstacle detecting device comprising a camera and a first structured light source arranged at a distance from each other on the main body,

wherein the first structured light source is arranged at an angle in relation to a direction of view of the camera of the robotic cleaning device; and

a processing unit configured to control the propulsion system;

wherein the obstacle detecting device is arranged to;

detect a landmark relative to the robotic cleaning device by illuminating the landmark with structured light from the first structured light source, wherein the processing unit is arranged to estimate an estimated distance to the landmark based on a detected reflection of the structured light,

move the robotic cleaning device into contact with the landmark while measuring an actual distance to the landmark via the dead reckoning sensor, and

compare the actual distance with the estimated distance to determine a measurement error.

8. The robotic cleaning device according to claim 7, wherein the processing unit is configured to determine a plurality of measurement errors, and wherein the processing unit is further configured to detects if the measurement errors are consistent or not.

9. The robotic cleaning device according to claim 8, wherein the processing unit comprises a distance calculating algorithm with a parameter representing the angle and wherein the processing unit calibrates the parameter if it is determined that the measurement errors are consistent.

10. The robotic cleaning device according to claim 7, comprising at least one of a vibration sensor or a temperature sensor arranged in communication with the processing unit.

11. The robotic cleaning device according to claim 7, wherein the processing unit comprises a timer.

12. A method for detecting measurement errors in an obstacle detecting device of a robotic cleaning device, the method comprising:

estimating an estimated distance to a landmark by illuminating the landmark with structured light and extracting information from reflections of the structured light;

moving into contact with the landmark while dead reckoning an actual distance to the landmark;

comparing the actual distance with the estimated distance to determine a measurement error in the obstacle detecting device; and

determining whether the robotic cleaning device has been in an idle mode for a predetermined period of time, and performing one or more of the estimating, moving and comparing steps if the robotic cleaning device has been in an idle mode for a predetermined period of time.

13. The method according to claim 12, further comprising repeating the estimating, moving and comparing steps a plurality of times by moving back away from the landmark and again into contact with the landmark.

14. The method according to claim 13, further comprising determining whether respective measurement errors generated during each repetition of the estimating, moving and comparing steps are consistent.

15. The method according to claim 14, further comprising adjusting a parameter in a distance calculating algorithm if it is determined that the respective measurement errors are consistent.

16. The method according to claim 15, wherein the parameter in the distance calculating algorithm is a value for an angle at which a structured light source is arranged in relation to a direction of view of the obstacle detecting device.

17. The method according to claim 12, further comprising determining whether a predetermined operating time of the robotic cleaning device has elapsed, and performing one or more of the estimating, moving and comparing steps if the predetermined operating time has elapsed.