Method for controlling an autonomous mobile robot

• US 10,860,029 B2
• Filed: 02/15/2017
• Issued: 12/08/2020
• Est. Priority Date: 02/15/2016
• Status: Active Grant

• Current Assignee: Robart GmbH
• Original Assignee: Robart GmbH
• Inventors: Artes, Harold, Mascher, Erwin, Vogel, Reinhard
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US16/077,929
• Publication Number:
  US 20190094869A1
• Time in Patent Office: 1,392 Days
• CPC Class Codes: E04H 4/1654 Self-propelled cleaners
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method for controlling an autonomous mobile robot for carrying out a task in a local region of an area of application of the robot. According to one embodiment, the method comprises the following steps: positioning the robot in starting position within the area of application of the robot; detecting information relating to the surroundings of the robot by means of at least one sensor; selecting a region with a determined geometric basic shape; and automatically determining, based on the detected information relating to the surroundings, at least one of the two following parameters: size and position (also including the orientation/alignment) of the selected region.

Claims

1. A method for controlling an autonomous mobile robot with a human-machine interface (HMI), comprising:

providing the robot that comprises a processor for executing process instructions, a storage element with an electronic map, and a sensor for navigation and orientation in an environment, and

wherein robot and HMI are configured to exchange data via a communication connection;

displaying the map on the HMI;

receiving a selection of a point by the user by marking the point on the map;

automatically controlling the robot to begin processing of a certain region that is dependent on the selected point.

2. The method in accordance with claim 1,

wherein the certain region has a previously defined basic shape, size and orientation and

wherein parameters of basic shape, size, orientation, or a combination thereof, are automatically adapted based on first information saved on the electronic map.

3. The method in accordance with claim 2,

wherein the first information refers to wall location, wall position, type of floor covering, obstacle location, shape of obstacles or a combination thereof.

4. The method in accordance with claim 1,

receiving a selection of numerous points on the map;

calculating an optimal process succession of the numerous points on the map to minimize a total required time;

processing by the robot, for each point of the numerous points on the map and based on the calculation of the optimal process succession, a region associated with each point of the numerous points on the map.

5. The method in accordance with claim 1,

receiving a selection of numerous points on the map;

processing by the robot, for each point of the numerous points on the map a region associated with each respective point, and

wherein overlapping regions are combined into one region.

6. The method in accordance with claim 1,

wherein every certain region is adaptable in size and/or orientation over the HMI by gestures detected by a touch screen.

7. The method in accordance with claim 6,

automatically moving the robot to a position defined by a first selected point before the user has finished marking further points and adapting the certain region.

8. A method for controlling an autonomous mobile robot to carry out an activity in a localized region of an area of robot employment, the method comprising;

positioning the robot at a starting position within the area of robot employment;

detecting information regarding an environment of the robot by a sensor;

selecting a region having a certain basic geometric shape; and

automatically determining, based on the detected information regarding the environment, a size of the selected region, a or position of the selected region, or both.

9. The method in accordance with claim 8,

wherein the position of the selected region depends on the starting position.

10. The method in accordance with claim 8,

wherein the basic geometric shape is selected in dependency on the detected information regarding the environment.

11. The method in accordance with claim 8, wherein the automatic determination comprises;

modifying a region, beginning with a standard size and a standard orientation of the basic geometric shape, by rotating at least one of an additional sub-region, shifting the at least one additional sub-region, scaling the at least one additional sub-region, expanding the at least one additional sub-region, or a combination thereof.

12. The method in accordance with claim 8,

wherein the sensor is a dirt sensor that is configured to detect dirtied areas on a floor surface, and wherein the information regarding the environment of the robot comprises information regarding the dirtied area of at least one part of the floor surface.

13. The method in accordance with claim 8,

wherein the sensor is an obstacle detection sensor,

wherein the information regarding the environment of the robot comprises information regarding the location and position of obstacles.

14. The method in accordance with claim 13, further comprising:

modifying the region by expanding the region by at least one additional sub-region that lies between the region and a detected obstacle.

15. The method in accordance with claim 14,

wherein the region is only expanded if at least one measurement of an additional sub-region lies below a threshold value.

16. The method in accordance with claim 8, further comprising:

modifying the region by rotating the region until it is aligned along a preferred direction.

17. The method in accordance with claim 16,

wherein the sensor is configured to detect, walls, obstacles or borders between differing floor coverings,

wherein the preferred direction is defined by the orientation of a wall, a neighboring obstacle, or, respectively, a border of a floor covering.

18. The method in accordance with claim 8,

wherein the sensor is configured to recognize whether the selected region lies at least partially underneath a piece of furniture;

and

wherein the size and the position of the selected region is determined such that the selected region completely encompasses the floor surface lying under a detected piece of furniture or such that the selected region lies completely underneath the detected piece of furniture.

19. The method in accordance with claim 8,

wherein information regarding the environment is saved on an electronic map of the robot;

and

wherein the basic geometric shape is selected in dependency on the information saved on the map and/or wherein the size and the position of the selected region is determined in dependency on the information saved on the map.

20. A method for controlling an autonomous mobile robot with a navigation module that comprises a sensor for navigation and orientation in an environment of the robot by an electronic map;

the method comprising;

positioning the robot at a starting position within the area of robot employment;

carrying out a self localization, in the course of which the robot determines by the sensor and the electronic map whether the robot is located on the electronic map;

determining the robot position on the map;

carrying out a task, which is associated with the determined position of the robot, by the robot.

21. The method in accordance with claim 20,

wherein the robot, after activation, begins to carry out a standard task while the self localization is still being carried out, and

wherein the task is adapted if, upon completing the self localization, the robot position or a region in which the robot position lies is linked to a task.

22. The method in accordance with claim 20,

wherein the robot, after completing the task, verifies based on a map whether a base station of the robot is accessible and,

wherein if the base station of the robot is accessible, the robot docks onto the base station.

23. The method in accordance with any of claim 22,

wherein the robot, while carrying out a task, takes into consideration whether any danger zones are marked on the map and,

wherein the robot avoids any danger zones are marked on the map.

24. The method in accordance with claim 20, wherein, if no task is linked to the determined position of the robot, the following steps are initiated:

selecting a region having a certain basic geometric shape; and

automatically determining, based on the information detected by the sensor for navigation and orientation in the environment of the robot, the size of the selected region, position of the selected region, or both.

25. The method in accordance with claim 24,

wherein the selected region is displayed in the determined size and/or position on a human-machine interface and the user is offered the possibility of saving the displayed region and linking a task to the displayed region.