Service robot and method of operating same

• US 9,603,499 B2
• Filed: 09/16/2014
• Issued: 03/28/2017
• Est. Priority Date: 01/28/2008
• Status: Active Grant

• Current Assignee: Seegrid Corporation
• Original Assignee: Seegrid Corporation
• Inventors: Friedman, Scott Justin-Marl, Moravec, Hans Peter
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/487,860
• Publication Number:
  US 20150006016A1
• Time in Patent Office: 924 Days
• US Class Current: 1/1
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/281 the amount or condition of incoming dirt or dust
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

In accordance with aspects of the present invention, a service robot, such as a robotic cleaner, can be configured to more effectively service an environment. The service robot can include one or more sensors that sense its location, the location of objects, or both, and can also include noise reduction elements. The service robot can determine that it is under a “furnishing” and implement a different servicing pattern.

Claims

1. A method of performing a robotic service, the method comprising:

navigating a service robot through an environment according to a servicing route to perform a service, using automatic self-control by the robot;

sensing at least one object in the environment while navigating according to the servicing route;

collecting data regarding the at least one object in the environment along the service route;

storing a location of at least one of the at least one object and the service robot determined using the data; and

based on the data, tailoring the servicing route to enable the service robot to optimally service a plurality of environments.

2. The method of claim 1, further comprising:

the robot stopping and waiting in response to sensing a living being.

3. The method of claim 1, wherein the sensing is accomplished by a set of sensors including one or more photosensors.

4. The method of claim 1, further comprising:

the service robot wirelessly communicating with one or more of a control system, database system, other robots, wireless devices, and external sensors.

5. The method of claim 1, further comprising:

providing a controller, the controller;

assigning functional labels to each of a plurality of service locations; and

associating one or more of the service locations with specific events for times of the day to indicate when the servicing should be performed.

6. The method of claim 1, wherein the navigating is performed using one or more electronic maps of the environment stored in a memory.

7. The method of claim 6, further comprising:

electronically updating the one or more electronic maps using camera data.

8. The method of claim 7, further comprising:

electronically updating the electronic maps using still image data as sensor data from the camera data.

9. The method of claim 8, further comprising:

determining and storing location information from the sensor data.

10. The method of claim 7, further comprising:

electronically updating the electronic maps using video data as sensor data from the camera data.

11. The method of claim 10, further comprising:

determining and storing location information from the sensor data.

12. A method of performing a robotic service, the method comprising:

navigating a service robot through an environment according to a servicing route to perform a service, using automatic self-control by the robot;

sensing at least one object in the environment while navigating according to the servicing route;

collecting data regarding the at least one object in the environment along the service route;

storing a location of at least one of the at least one object and the service robot determined using the data; and

based on the data indicating that a first navigation route conflicts with the at least one object, tailoring the servicing route from the first navigation pattern to a second navigation pattern that avoids contact with the at least one object.

13. The method of claim 12, further comprising:

electronically storing the second navigation pattern in a storage media for later use.

14. A service robot system comprising:

a service robot platform;

a navigation controller and a drive mechanism, the navigation controller configured to navigate the service robot platform through an environment according to a servicing route to perform a service;

a data collection apparatus configured to collect data regarding at least one object in the environment along the servicing route;

data storage media configured to store location information of at least one of the at least one object and the service robot platform determined using the data;

a processor system configured to tailor the servicing route, based on the data, to enable the service robot platform to optimally service the environment.

15. The service robot system of claim 14, wherein the data collection apparatus includes at least one sensor configured to determine the location information of the at least one object relative to the data collection apparatus.

16. The service robot system of claim 14, further comprising:

a communication module; and

a control system remote from the service robot platform;

the communication module configured to communicate with the control system.

17. The service robot system of claim 16, wherein the data storage media is included in the control system.

18. The service robot system of claim 15, wherein at least one of the at least one sensor is positioned on the service robot platform.

19. The service robot system of claim 15, wherein the processor is configured to alter the servicing route based on changes in the location information.

20. The service robot system of claim 15, wherein at least one of the at least one sensor is positioned remote from the service robot platform.