Methods and apparatus for position estimation using reflected light sources

• US 9,360,300 B2
• Filed: 06/02/2014
• Issued: 06/07/2016
• Est. Priority Date: 03/29/2004
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: DiBernado, Enrico, Pirjanian, Paolo
• Primary Examiner(s): Brainard, Timothy A
• Application Number:
  US14/293,228
• Publication Number:
  US 20140268179A1
• Time in Patent Office: 736 Days
• Field of Search: 356/614
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01C 3/06 Use of electric means to obtain final indication
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Claims

1. A robot comprising:

a drive system comprising a plurality of wheels;

an optical position sensor; and

a control system configured to perform operations comprising;

estimating a position of the robot using the optical position sensor and wheel odometry data for the plurality of wheels;

tracking a history of a plurality of paths taken by the robot using a plurality of estimated positions; and

detecting a light projected by a handheld device and guiding the robot to a location based on the light projected by the handheld device.

2. The robot of claim 1, wherein the control system is configured to detect the projected light with the optical position sensor.

3. The robot of claim 1, wherein the optical position sensor comprises a camera, and the robot further comprises a signal processing unit coupled to the camera.

4. The robot of claim 3, wherein the optical position sensor is configured to measure the intensity of light incident on the camera and, using the signal processing unit, generate one or more signals to estimate the position of the optical position sensor relative to a projected light pattern.

5. The robot of claim 3, wherein the optical position sensor is configured to measure a centroid of the light projected by the handheld device.

6. The robot of claim 5, wherein the optical position sensor is configured to measure the centroid by generating electrical current proportional to the position and intensity of the light centroid.

7. The robot of claim 1, wherein the optical position sensor comprises a camera having a field of view configured to extend upward so as to intersect at least a portion of a ceiling.

8. The robot of claim 1, wherein the robot comprises a bottom side and a top side and the optical position sensor faces upward and away from the top side of the robot.

9. The robot of claim 1, wherein the operations comprise navigating along a planned, traversable path to a specified location using the plurality of estimated positions.

10. The robot of claim 1, wherein the operations comprise estimating a height of a ceiling using the optical position sensor and a plurality of wheel odometry data points for the plurality of wheels.

11. The robot of claim 1, comprising a plurality of wheel encoders, one for each of the plurality of wheels.

12. The robot of claim 1, wherein the robot is an autonomous robotic vacuum cleaner.

13. A method performed by a control system of a robot, the method comprising:

estimating a position of the robot using an optical position sensor and wheel odometry data for a plurality of wheels of a drive system for the robot;

tracking a history of a plurality of paths taken by the robot using a plurality of estimated positions; and

detecting a light projected by a handheld device and guiding the robot to a location based on the light projected by the handheld device.

14. The method of claim 13, comprising navigating the robot along a planned, traversable path to a specified location using the plurality of estimated positions.

15. The method of claim 13, wherein the projected light is detected with the optical position sensor.

16. The method of claim 13, wherein the optical position sensor comprises a camera.

17. The method of claim 16, comprising measuring, using the optical position sensor, the intensity of light incident on the camera and, using a signal processing unit, generating one or more signals to estimate the position of the optical position sensor relative to a projected light pattern.

18. The method of claim 16, measuring, using the optical position sensor, a centroid of the light projected by the handheld device.

19. The method of claim 18, wherein measuring the centroid comprises generating electrical current proportional to the position and intensity of the light centroid.

20. The method of claim 13, wherein the robot comprises a bottom side and a top side and the optical position sensor faces upward and away from the top side of the robot.

21. The method of claim 13, comprising estimating a height of a ceiling using the optical position sensor and a plurality of wheel odometry data points for the plurality of wheels.

22. The method of claim 13, comprising obtaining the wheel odometry data using a plurality of wheel encoders, one for each of the plurality of wheels.

23. The method of claim 13, wherein the robot is an autonomous robotic vacuum cleaner.