System for moving mobile robots in accordance with predetermined algorithm

• US 8,115,439 B2
• Filed: 01/03/2011
• Issued: 02/14/2012
• Est. Priority Date: 02/26/2003
• Status: Expired due to Fees

• Current Assignee: Silverbrook Research Pty Limited
• Original Assignee: Silverbrook Research Pty Limited
• Inventors: Yourlo, Zhenya Alexander, Lapstun, Paul, Silverbrook, Kia
• Primary Examiner(s): Leykin, Rita
• Application Number:
  US12/983,828
• Publication Number:
  US 20110098858A1
• Time in Patent Office: 407 Days
• Field of Search: 318/568.1, 318/568.12, 318/568.16, 318/569.19, 318/567, 318/568.25, 235/462.09, 235/462.08, 235/462.07, 235/462.1, 235/462.11, 235/454, 700/253, 700/249, 700/251, 700/257, 700/259, 382/217, 382/312, 382/315, 382/318, 382/320, 382/321, 345/473, 901/1, 901/3, 701/208, 701/207, 340/990, 340/995.1
• US Class Current: 318/568.12
• CPC Class Codes: A63F 2003/00826 Changeable playing pieces
• CPC Class Codes: A63F 3/00643 Electric board games; Electric features of board games electric word or number games A63F3/0421; computer chess G06F; electric raffle games A63F3/081
• CPC Class Codes: A63H 2200/00 Computerized interactive toys, e.g. dolls
• CPC Class Codes: B41J 3/28 for printing downwardly on flat surfaces, e.g. of books, drawings, boxes , envelopes, e.g. flat-bed ink-jet printers
• CPC Class Codes: B43L 13/00 Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for stencils for surface decoration B44D
• CPC Class Codes: G05B 2219/45084 Service robot
• 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 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A system for moving robots in accordance with a predetermined algorithm. The system includes: a surface having a position-coding pattern which identifies the surface; mobile robots for moving across the surface, each robot being configured for sensing and decoding the position-coding pattern; and a computer system in communication with the mobile robots. The computer system is configured to send instructions for moving each mobile robot relative to the surface in response to position information corresponding to that mobile robot. Further, the computer system is configured to determine instructions for moving each mobile robot using a predetermined algorithm. The predetermined algorithm is selected on the basis of the identity of the surface.

Claims

1. A system for moving mobile robots in accordance with a predetermined algorithm, said system comprising:

a surface having a position-coding pattern disposed thereon, the position-coding pattern identifying an identity of the surface;

one or more mobile robots for moving across said surface, each robot being configured for sensing and decoding the position-coding pattern; and

a computer system in communication with said one or more mobile robots,

wherein said computer system is configured to send instructions for moving each mobile robot relative to the surface in response to position information corresponding to said mobile robot,

wherein said computer system is configured to determine instructions for moving each mobile robot using a predetermined algorithm, said predetermined algorithm being selected on the basis of the identity of the surface,

and wherein said position-coding pattern encodes, at each of at least a given density of points on the surface, two-dimensional coordinates of the point.

2. The system of claim 1, wherein each mobile robot comprises

an on-board controller configured for wireless communication with the computer system;

a drive system connected to the controller, said drive system being configured for moving and steering the mobile robot relative to the surface; and

an image sensor for optically sensing the position-coding pattern, said image sensor system being connected to the controller such that said controller can communicate position data the computer system.

3. The system of claim 1, wherein the controller is configured to report arrival at a specified coordinate position to the computer system.

4. The system of claim 1, wherein each mobile robot incorporates a display.

5. The system of claim 4, wherein said display identifies a information corresponding to a respective mobile robot.

6. The system of claim 1 comprising a plurality of mobile robots, wherein said computer system is contained in one of said mobile robots.

7. The system of claim 1, wherein the surface is a game board and each mobile robot is a game piece for said game board.