U.S. patent application number 16/179847 was filed with the patent office on 2019-06-27 for method for overcoming obstructions of a robotic device.
This patent application is currently assigned to AI Incorporated. The applicant listed for this patent is Ali Ebrahimi Afrouzi, Andrew Francis Fitzgerald. Invention is credited to Ali Ebrahimi Afrouzi, Andrew Francis Fitzgerald.
Application Number | 20190196469 16/179847 |
Document ID | / |
Family ID | 66950247 |
Filed Date | 2019-06-27 |
United States Patent
Application |
20190196469 |
Kind Code |
A1 |
Ebrahimi Afrouzi; Ali ; et
al. |
June 27, 2019 |
METHOD FOR OVERCOMING OBSTRUCTIONS OF A ROBOTIC DEVICE
Abstract
Provided is a method for a robotic device to autonomously
overcome obstructions hindering the operational capacity of the
robotic device. When a robotic device encounters an obstruction,
the robotic device may enact one of a number of predetermined
responses to overcome the obstruction without requiring the
intervention of an outside entity to assist the robotic device with
overcoming the obstruction.
Inventors: |
Ebrahimi Afrouzi; Ali; (San
Jose, CA) ; Fitzgerald; Andrew Francis; (Hamilton,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ebrahimi Afrouzi; Ali
Fitzgerald; Andrew Francis |
San Jose
Hamilton |
CA
CA |
US
US |
|
|
Assignee: |
AI Incorporated
Toronto
CA
|
Family ID: |
66950247 |
Appl. No.: |
16/179847 |
Filed: |
November 2, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62580640 |
Nov 2, 2017 |
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 2201/0215 20130101;
A47L 11/00 20130101; A47L 9/0477 20130101; G05D 1/0274 20130101;
A47L 2201/04 20130101; G05D 2201/0208 20130101; G05D 1/0219
20130101; A47L 9/0472 20130101; G05D 1/0238 20130101; A47L 9/2847
20130101; G05D 1/0088 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; G05D 1/02 20060101 G05D001/02 |
Claims
1. A method for a robotic device to overcome obstructions hindering
the operations of the robotic device, the method comprising:
providing a robotic device, the robotic device comprising: one or
more processors; a chassis including a set of wheels; a motor for
driving the set of wheels; a rechargeable battery for providing
power to the robotic device; a control system module for
controlling the movement of the robotic device; a set of sensors; a
screen with graphical user interface; and a motor for providing
increased power to modules of the robotic device when the modules
become obstructed; the robotic device encountering an obstruction;
and the robotic device autonomously enacting one or more
predetermined responses to attempt to overcome the obstruction.
2. The method of claim 1, wherein: when a wheel of the robotic
device becomes obstructed, the predetermined response is to provide
additional power to the wheel by a motor of the robotic device to
overcome the obstruction by spinning at a higher rotational
speed.
3. The method of claim 1, wherein: when a wheel of the robotic
device becomes obstructed, the predetermined response is for the
wheel to reverse direction for overcoming the obstruction and the
robotic device thereby navigates in a reverse direction for
overcoming the obstruction.
4. The method of claim 1, wherein: the wheels of the robotic device
are omnidirectional wheels, and as such when they become
obstructed, the predetermined response is for the wheels to turn in
order to navigate the robotic device in a direction such that the
wheels become unobstructed.
5. The method of claim 1, wherein: when a side brush of the robotic
device becomes obstructed, the predetermined response is that the
side brush reverses the direction it is spinning in for overcoming
the obstruction.
6. The method of claim 1, wherein: when a side brush of the robotic
device becomes obstructed, the predetermined response is to provide
additional power to the side brush by a motor of the robotic device
to overcome the obstruction by spinning at a higher rotational
speed.
7. The method of claim 1, wherein: when a side brush of the robotic
device becomes obstructed, the predetermined response is for the
robotic device to navigate in a predetermined direction in order to
overcome the obstruction.
8. The method of claim 1, wherein: when a wheel of the robotic
device becomes obstructed, the predetermined response is to provide
additional power to the wheel by a motor of the robotic device to
overcome the obstruction by spinning at a higher rotational
speed.
9. The method of claim 1, wherein: when a main brush of the robotic
device becomes obstructed, the predetermined response is to provide
additional power to the main brush by a motor of the robotic device
to overcome the obstruction by spinning at a higher rotational
speed.
10. The method of claim 1, wherein: when a main brush of the
robotic device becomes obstructed, the predetermined response is
for the main brush to reverse the direction it is spinning in for
overcoming the obstruction.
11. The method of claim 1, wherein: when a main brush of the
robotic device becomes obstructed, the predetermined response is
for the robotic device to navigate in a predetermined direction in
order to overcome the obstruction.
12. The method of claim 1, wherein: a comb with a serrated edge is
provided on the main brush of the robotic device, a motor providing
power to the comb with serrated edge such that the comb with
serrated edge navigates along the surface of the main brush by
sliding over it.
13. The method of claim 12, wherein: when the main brush becomes
entangled with an obstruction along the bristles of the main brush,
the predetermined response is for the comb with serrated edge to
navigate along the surface of the main brush such that the serrated
edges of the comb slice through and free away the obstruction.
14. The method of claim 1, wherein: when a vacuuming module of the
robotic device becomes obstructed, the predetermined response is
for a motor to provide additional power to the module such that a
higher rate of suction is achieved in order to overcome the
obstruction.
15. The method of claim 1, wherein: when a vacuuming module of the
robotic device becomes obstructed, the predetermined response is
for the module to reverse the airflow such that the module is
blowing air in order to overcome the obstruction.
16. The method of claim 1, wherein: when a robotic device
encounters an obstruction of which the robotic device is unable to
overcome, the robotic device makes an alert by any of: generating a
sound, generating an audio message, via a message of a screen with
graphical user interface of the robotic device, via an application
with graphical user interface of a communications device, or by
display of a light.
17. A system wherein a robotic device overcomes an obstruction, the
system comprising: providing a robotic device, the robotic device
comprising: one or more processors; a chassis including a set of
wheels; a motor for driving the set of wheels; a rechargeable
battery for providing power to the robotic device; a control system
module for controlling the movement of the robotic device; a set of
sensors; a screen with graphical user interface; and a motor for
providing increased power to modules of the robotic device when the
modules become obstructed; The robotic device encountering an
obstruction; and the robotic device autonomously enacting one or
more predetermined responses to overcome the obstruction.
18. The system of claim 17, wherein when a wheel of the robotic
device becomes obstructed, the response of the robotic device is
any of: providing additional power to the wheel by a motor of the
robotic device, reversing the direction in which the wheel spins,
the robotic device navigating in a direction other than the
direction in which the robotic device was navigating when the wheel
of the robotic device became obstructed.
19. The system of claim 17, wherein when a main brush of the
robotic device becomes obstructed, the response of the robotic
device is any of: providing additional power to the main brush by a
motor of the robotic device, reversing the direction in which the
main brush spins, operating a comb with serrated edge along the
surface of the main brush such that the comb with serrated edge
dislodges any obstruction from the main brush.
20. The system of claim 17, wherein when a side brush of the
robotic device becomes obstructed, the response of the robotic
device is any of: providing additional power to the main brush by a
motor of the robotic device, reversing the direction in which the
main brush spins, operating a comb with serrated edge along the
surface of the main brush such that the comb with serrated edge
dislodges any obstruction from the main brush.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of Provisional Patent
Application No. 62/580,640, filed Nov. 2, 2017 which is hereby
incorporated by reference. In this application, certain U.S.
patents, U.S. patent applications, or other materials (e.g.,
articles) have been incorporated by reference. Specifically, in
addition to the preceding, U.S. patent application Ser. Nos.
16/048,179, 16/048,185, 15/272,752, 62/631,050 and 16/051,328 are
hereby incorporated by reference. The text of such U.S. patents,
U.S. patent applications, and other materials is, however, only
incorporated by reference to the extent that no conflict exists
between such material and the statements and drawings set forth
herein. In the event of such conflict, the text of the present
document governs, and terms in this document should not be given a
narrower reading in virtue of the way in which those terms are used
in other materials incorporated by reference.
FIELD OF INVENTION
[0002] The present disclosure relates to robotic devices, and more
particularly, to the methods in which a robotic device overcomes
issues in the work environment interfering with the functions of
the robotic device.
BACKGROUND OF INVENTION
[0003] Autonomous or semi-autonomous robotic devices are
increasingly used within consumer homes and commercial
establishments. Such devices may include a robotic vacuum cleaner,
lawn mower, mop, or other similar devices. One issue that remains
is how that robotic devices often encounter is that the robotic
devices become inoperable due to a variety of circumstances thereby
requiring the physical intervention on the part of an individual to
rectify the issue. For example, if a brush of a robotic cleaner
becomes stuck around, for example, an electrical cord, the robotic
device may become inoperable as the brush will no longer be able to
spin, and an individual must come to detangle the electrical cord
from the brush. In another example, brushes of robotic cleaners may
become stuck due to becoming entangled with hair or the like and no
longer be able to spin properly, the individual in turn must come
over to detangle the hair from the brush. In other examples a
robotic device may become stuck on an unexpected elevation change,
encounter an unexpected dip or the like and an individual must
intervene to assist the robotic device. While it is unavoidable
that robotic devices will encounter issues in the work environment
completely, it is preferable that a robotic device be able to
overcome such issues independently. When a robotic device
encounters an issue, it may render the robotic device inoperable
which is undesirable as the robotic device may not be able to
complete work tasks, and it is further undesirable as it often
requires outside assistance for overcoming the issue. A method is
needed for a robotic device to be able to overcome such issues
independently.
[0004] None of the preceding discussion should be taken as a
disclaimer of any of the described techniques, as the present
approach may be used in combination with these other techniques in
some embodiments.
SUMMARY
[0005] The following presents a simplified summary of some
embodiments of the present techniques. This summary is not an
extensive overview of the invention. It is not intended to limit
the invention to embodiments having any described elements or to
delineate the scope of the invention. Its sole purpose is to
present some embodiments of the invention in a simplified form as a
prelude to the more detailed description that is presented
below.
[0006] Some aspects include a method for a robotic device to
overcome obstructions hindering the operations of the robotic
device, the method comprising: providing a robotic device, the
robotic device comprising: one or more processors, a chassis
including a set of wheels, a motor for driving the set of wheels, a
rechargeable battery for providing power to the robotic device, a
control system module for controlling the movement of the robotic
device, a set of sensors, a screen with graphical user interface,
and a motor for providing increased power to modules of the robotic
device when the modules become obstructed; The robotic device
encountering an obstruction; and Whereby the robotic device
autonomously enacts one or more predetermined responses to attempt
to overcome the obstruction.
[0007] Some aspects include a system wherein a robotic device
overcomes an obstruction, the system comprising: providing a
robotic device, the robotic device comprising: one or more
processors, a chassis including a set of wheels, a motor for
driving the set of wheels, a rechargeable battery for providing
power to the robotic device, a control system module for
controlling the movement of the robotic device, a set of sensors, a
screen with graphical user interface, and a motor for providing
increased power to modules of the robotic device when the modules
become obstructed; The robotic device encountering an obstruction;
and the robotic device autonomously enacting one or more
predetermined responses to overcome the obstruction.
BRIEF DESCRIPTION OF DRAWINGS
[0008] The present techniques are described with reference to the
following figures:
[0009] FIG. 1A-C illustrate a series of steps in which a robotic
device may overcome an obstruction.
[0010] FIG. 2A-C illustrate a series of steps in which a robotic
device may overcome an obstruction.
[0011] FIG. 3A-E illustrate a series of steps in which a robotic
device may overcome an obstruction.
DETAILED DESCRIPTION OF THE INVENTIONS
[0012] The present inventions will now be described in detail with
reference to a few embodiments thereof as illustrated in the
accompanying drawings. In the following description, numerous
specific details are set forth in order to provide a thorough
understanding of the present inventions. It will be apparent,
however, to one skilled in the art, that the present inventions, or
subsets thereof, may be practiced without some or all of these
specific details. In other instances, well known process steps
and/or structures have not been described in detail in order to not
unnecessarily obscure the present inventions. Further, it should be
emphasized that several inventive techniques are described, and
embodiments are not limited to systems implanting all of those
techniques, as various cost and engineering trade-offs may warrant
systems that only afford a subset of the benefits described herein
or that will be apparent to one of ordinary skill in the art.
[0013] Various embodiments are described herein below, including
methods and systems. It should be kept in mind that the invention
might also cover articles of manufacture that include a
computer-readable medium on which computer-readable instructions
for carrying out various embodiments of the inventive techniques
are stored. The computer-readable medium may include
semi-conductor, magnetic, opto-magnetic, optical, or other forms of
computer-readable medium for storing computer-readable code.
Further, embodiments may also include apparatuses for practicing
embodiments of the invention. Such apparatus may include circuits,
dedicated and/or programmable, to carry out tasks pertaining to
embodiments described herein.
[0014] In some embodiments, "robot", "robotic device", "robotic
vacuum" or "robotic cleaning device" may include one or more
autonomous or semi-autonomous devices having communication, an
actuator, mobility, and/or processing elements. Such robots or
robotic devices may, but are not required to (which is not to
suggest that any other described feature is required in all
embodiments), include a casing or shell, a chassis, a transport
drive system such as wheels or other mobility device, a motor to
drive the wheels or other mobility device, a receiver that acquires
signals transmitted from, for example, a transmitting beacon, a
processor and/or controller that processes and/or controls motors,
methods, and operations, network or wireless communications, power
management, etc., and one or more clock or synchronizing devices.
Robots or robotic devices may also include a power module for
delivering (and in some cases storing) electrical power, a sensor
module for observing the environment and for sending commands based
on the observed environment, and a control module for storage of
operation modes, command responses to the observed environment or
user input, and the like. The sensor module may include sensors for
detecting obstacles, types of flooring, cliffs, system status,
temperature, and the like or sensors for measuring movement. An
interface module may also be included to provide an interface
between the robot and the user. The robot or robotic device may
further include IR sensors, tactile sensors, sonar sensors,
gyroscopes, ultrasonic range finder sensors, depth sensing cameras,
odometer sensors, optical flow sensors, LIDAR, cameras, IR
illuminator, remote controls, Wi-Fi capability, network card,
Bluetooth capability, cellular functionality, USB ports and RF
transmitter/receiver. Other types of robots or robotic devices with
other configurations may also be used.
[0015] In embodiments, a control system of the robotic device may
be utilized. The control system may include, but is not limited to,
a system or device(s) that perform, for example, methods for
receiving and storing data; methods for processing data; methods
for processing command responses to stored or processed data, to
the observed environment, to internal observation, or to user
input; methods for detecting operational hazards in the work
environment; methods for detecting obstacles in the work
environment; and methods for navigation and other operation modes.
For example, the control system may receive data from an obstacle
sensor, and based on the data received, the control system may
respond by commanding the robotic device to move in a specific
direction. As a further example, the control system may receive
image data of the observed environment, process the data, and use
it to create a map of the environment. The control system may be a
part of the robotic device, the camera, a navigation system, a
mapping module or any other device or module. The control system
may also comprise a separate component coupled to the robotic
device, the navigation system, the mapping module, the camera, or
other devices working in conjunction with the robotic device. More
than one control system may be used.
[0016] As understood herein, the term "obstruction", "issue",
"operational hazard" or "hazard" may be defined generally to
include unwanted matter which may pose as an operational issue for
a robotic device when operating in a work environment, including
but not limited to, cords, cables, wires, toys, debris, dust, dirt,
rocks, feces, substances, objects, items, and the like wherein they
act as a hazard for a robotic device such as, for example, becoming
entangled with a robotic device. Substances of which a robotic
device has encountered and have created an issue such as clogging a
mechanism, becoming entangled with or the like, such as for example
hair which has become entangled with a brush rendering the brush
inoperable are also obstructions. Additionally, operational hazards
may include obstacles of which a robotic device may bump into and
become damaged by. Further, substances on a work surface, which
may, for example, damage a robotic device or render a robotic
device inoperable if a robotic device navigates over the substance
are also operational hazards. Items on a floor of which a robotic
device cannot overcome by driving over the item, or obstacles of a
type which interfere with a robotic device when conducting work
operations may also be operational hazards.
[0017] As understood herein, the term "work cycle", "work session",
"operational session" or "operational cycle" may be defined
generally as a work time of a robotic device from start to finish,
whether ended by completion of work of an area, by instruction or
programmed setting, or by the depletion of a battery powering the
robotic device.
[0018] Some of the embodiments introduced herein provide methods
related to the use of machine learning techniques to autonomously
control the actions of a robotic device when the robotic device has
encountered an issue that may otherwise render the functions of the
robotic device inoperable. The robotic device may comprise, but is
not limited to, a set of wheels, a power source, a chassis, a
suspension system, a rechargeable battery, a control module, a
processor, and the like. In some embodiments, the robotic device
may further comprise a mapping module for mapping the environment
using mapping techniques such as SLAM, and mapping tools such as
imaging devices, sonar devices, LIDAR and LADAR devices, structured
light devices, stereo vision and the like. In some embodiments, the
robotic device may further comprise a localization module. Cameras,
LIDAR, LADAR, stereo imaging, signal detectors and receivers,
gyroscope, optical encoder, optical flow sensor, depth sensors and
other devices may be used to capture information that one or more
processors of the robotic device may use to localize itself within
an internal map of the working environment. In some embodiments,
the one or more processors of the robotic device may use machine
learning techniques to learn the most optimal route for navigating
through a working environment from, for example, a storage location
of the robotic device to a working location of the environment and
back to its storage location. In some embodiments, the processor of
the robotic device may use machine learning techniques to learn the
most optimal route for navigating through a working environment
from, for example, a first location of the working environment, to
a second location of the working environment, to a third location
of the working environment, and so forth. Various observations may
be collected during operation in order to determine the most
optimal path for the robotic device when navigating through the
work environment. For example, observations such as number of
collisions, travel time, number of stalls, and travel distance may
be used in determining the most optimal path. In some embodiments,
the robotic device may have a wireless module to wirelessly send
and receive information, such as a Wi-Fi module, a Bluetooth
module, a RF module and the like. In some embodiments, the robotic
device may comprise a scheduling module for, for example, setting a
schedule for a working session. This may include the day, time,
frequency, duration of the working session, and the like.
[0019] In embodiments, one or more processors of a robotic device
may detect issues in the work environment of which the robotic
device has encountered. In embodiments, the one or more processors
of the robotic device may detect issues such as obstructions and
operational hazards via sensory input by the one or more sensors of
a robotic device. For example, the one or more processors may
detect that the robotic device has encountered an issue due to a
mechanism of the robotic device becoming inoperable. For example,
if a brush of a robotic device ceases to operate in a normal
capacity such as spinning, the one or more processors of the
robotic device may determine that the robotic device has
encountered an obstruction. In embodiments, the electrical current
of a brush may determine whether or not the brush has become
obstructed. If the electrical current utilized is not generating
enough power for the brush to spin for a normal operation, the one
or more processors of the robotic device may determine that the
brush has become obstructed. An increase in electrical current may
be provided to the brush in order to attempt to overcome the
obstruction. If unsuccessful, the one or more processors of the
robotic device may determine that the brush has become obstructed.
In another example, sensors angled at mechanisms of the robotic
device such as cameras or the like angled so as to view a
perspective of various mechanisms of a robotic device such as, for
example, a brush, a wheel, or the like, may capture features of an
obstruction of which one or more processors of a robotic device may
determine that the mechanism has become obstructed. For example, a
camera angled at a main brush of a robotic device may capture
images that hair or other unwanted matter has becoming entangled
around the brush rendering it inoperable. As another example, an
odometer may be utilized and the odometer readings may indicate to
one or more processors of a robotic device that an obstruction has
been encountered by the robotic device. For example, if an odometer
is reading at a lower than a predetermined threshold for wheels or
brushes of a robotic device, the one or more processors of the
robotic device may determine that an obstruction has been
encountered by the robotic device. As another example, if a robotic
device ceases to navigate due to one or more wheels of a robotic
device rotating properly, or if a suctioning module ceases to
suction, or the like, the one or more processors of the robotic
device may determine that the robotic device has encountered an
obstruction.
[0020] In some embodiments, one or more processors of a robotic
device may predict that a robotic device is likely to encounter an
obstruction. For example, one or more sensors of a robotic device
may capture features of an operational hazard in the work
environment. In some embodiments, a memory of the robotic device
may contain an internal database of operational hazards likely to
be encountered within the working environment. In embodiments, an
operational hazard encountered in the work environment may be
identified using various sensors to capture features of the
operational hazard and the processor of the robotic device may
compare the features captured of the operational hazard with
features stored in an internal database of types of operational
hazards that may be encountered in order to determine the type of
operational hazard the robotic device has encountered. In
embodiments, when the one or more processors of a robotic device
identify an operational hazard in the work environment, the one or
more processors may command the robotic device to continue
operations as normal. In embodiments, when the one or more
processors of a robotic device identify an operational hazard in
the work environment, the one or more processors may command the
robotic device to avoid the operational hazard. In some
embodiments, when the one or more processors of a robotic device
identify an operational hazard in the work environment, the one or
more processors may command the robotic device to attempt to
overcome the operational hazard, obstacle, or the like. For
example, if a cord or cable has been identified on the work
surface, the one or more processors may command the robotic device
to attempt to navigate over the cord or cable. In embodiments, if
the robotic device is successful in navigating over an operational
hazard, the one or more processors of the robotic device may
catalogue the encounter and attempt to do so again in future
similar encounters. In embodiments, if a mechanism of the robotic
device becomes inoperable immediately after attempting to overcome
an operational hazard, the one or more processors may determine
that there is a high likelihood that the robotic device has become
inoperable due to the operational hazard. In embodiments, if a
robotic device attempts to overcome an operational hazard and is
unsuccessful the one or more processors may catalogue the encounter
for future use and avoid such operational hazards in the future. In
some embodiments, a set of preprogrammed responses may be set for
differing types of operational hazards. For example, the response
of a robotic device becoming entangled with a cord or cable may be
different than the response a robotic device has for an elevation
change, for a brush becoming obstructed, or the like.
[0021] FIGS. 1A-C depict an example of a response that a robotic
device may make in response to a wheel of the robotic device
becoming entangled with an obstruction. In FIG. 1A wheel 102 of
robotic device 100 has become entangled with obstruction of the
work environment 101. In FIG. 1B, robotic device 100 begins to
navigate in direction 103 in order to attempt to remove obstruction
101 from wheel 102 of robotic device 100. In FIG. 1B, robotic
device 100 may navigate in a forward direction, providing more
power to navigate in the already forward navigation direction, may
reverse, or utilizing an omnidirectional wheel mechanism may
navigate in other directions. In FIG. 1C, robotic device 100 has
successfully removed entanglement with obstruction 101 from wheel
102 of robotic device 100 by navigating in direction 103. FIGS.
2A-C depict an example of a response that a robotic device may make
in response to a brush of the robotic device becoming entangled
with an obstruction. In another example, FIG. 2A displays robotic
device 200 is displayed with side brushes 201 and main brush 203.
Right side brush 201 of robotic device 200 has become entangled
with obstruction 202 of work environment while side brush 201 spins
in clockwise direction 204. In FIG. 2B robotic device 200 attempts
to overcome obstruction 202 from side brush 201 by reversing
rotation of side brush 201 in counter clockwise direction 205. In
FIG. 2C robotic device 200 has successfully removed obstruction 202
from side brush 201 of robotic device 200.
[0022] In embodiments, when a robotic device has encountered an
issue jeopardizing the operational capacity of the robotic device,
the robotic device may attempt to overcome the issue. For example,
in embodiments, a robotic device may encounter a cable, cord or the
like of the work environment and the cord or cable may become
entangled with the robotic device. For example, a cord or cable may
become entangled with a wheel mechanism of the robotic device. In
embodiments, if, for example, an obstruction becomes entangled
with, for example, a wheel of a robotic device, the one or more
processors of the robotic device may receive sensory input
indicating that an issue has arisen such as, for example, that the
robotic device is unable to navigate forward due to a particular
wheel not spinning properly. In such a situation, a robotic device
may attempt to reverse the wheels, propelling itself in a reverse
direction to overcome the issue. Other possibilities are available
for overcoming such an obstruction. For example, a robotic device
may be equipped with mecanum wheels, providing the robotic device
with omnidirectional capacity, and the robotic device may attempt a
number of traveling directions for its wheels for overcoming the
obstruction. Alternatively, additional power may be provided to the
wheel mechanism of the robotic device in order to attempt to drive
forward with additional power. For example, a motor of a robotic
device may provide additional power to the wheels of the robotic
device such that the wheels are able to overcome the obstruction by
navigating in the same direction that the robotic device was
navigating in when the wheel became obstructed. Further, additional
power may be provide to, for example, a wheel mechanism and the
wheel mechanism navigates the robotic device in a direction other
than that of which the robotic device was navigating in when the
robotic device became obstructed. As another example, a brush of a
robotic device may become entangled with a cord or cable of the
work environment and the response of the robotic device may be any
of, reversing the direction of rotation of the entangled brush,
navigating the robotic device in a variety of directions, or the
like. For example, if a side brush of a robotic device has become
entangled with a cord or cable of the work environment, the brush
may reverse its spin in an opposite direction, the robotic device
may navigate in a reverse direction, or the like. Further,
additional power may be provided to the obstructed mechanism such
as brush, such as, for example, from a motor, such that the
obstructed mechanism such as a brush is able to rotate at a higher
rate of speed in order to attempt to dislodge the obstruction.
[0023] In some embodiments, a robotic device may encounter an issue
due to an unexpected elevation change. For example, a robotic
device may navigate on a hard floor surface and transition to a
thick pile carpet, the angle of the robotic device and the
differing floor surface types causing a potential issue for the
robotic device. For example, one set of wheels may be positioned on
the thick pile carpet while a second set of wheels are positioned
on the hard floor surface, the propelling wheels of the robotic
device being located on the thick pile carpet which have become
stuck in a forward motion. A response of a robotic device may be to
attempt to navigate in a different direction, such as a reverse
direction to overcome the issue, or a motor of the propelling
wheels may provide extra power to the propelling wheels such that
the wheels are able to navigate in a direction such that the
robotic device stable again. For example, a motor may provide
additional power to the propelling wheels of the robotic device
such that the robotic device is able to navigate forward to be
fully on the thick pile carpet. Conversely, additional power may be
provided such that the wheels reverse, or navigate in a different
direction, such that the robotic device becomes stable again. A
robotic device may include an omnidirectional wheel mechanism such
that the robotic device may maneuver in a variety of directions as
such in order to overcome issues of the work environment.
[0024] In some embodiments, a robotic device may encounter an issue
such as an obstruction impeding a mechanism of the robotic device.
In embodiments, for example, a brush of a robotic device may become
entangled with an obstruction such as a main brush becoming
entangled with an obstruction from the work environment. In
embodiments, the robotic device may attempt to reverse the
direction in which the main brush spins in order to remove the
obstruction from the brush. In some embodiments, the rpm rate of
the brush may be increased in order to remove an obstruction such
as, for example, by providing additional power to the brush. In
some embodiments, if a brush is utilized together with a vacuuming
module, if a brush encounters an obstruction, the vacuum suction
may be increased in order to attempt to suction in the obstruction.
In some embodiments, if a brush is utilized together with a
vacuuming module and the brush encounters an obstruction, the
vacuuming module may reverse airflow and instead blow air in an
opposite direction in order to attempt to dislodge the obstruction.
In some embodiments, a module may be utilized for removing
obstructions from brushes of a robotic device. In some embodiments,
a module for removing obstructions from brushes of a robotic device
may comprise a combing module with serrated edges. In some
embodiments, a combing module with serrated edges may be combined
with a module for providing power and movement such as a motor such
that the serrated combing module navigates along the length of the
brush, such that any obstructions are removed from the brush by the
combing module. In embodiments, for example, an obstruction along a
brush such as for example, hair, may be cut through by a combing
module with serrated edges such that the hair is no longer
entangled with the brush. In embodiments, once an obstruction has
been cut or loosened by a combing module, a vacuuming module or a
blowing module may suction or blow the obstruction from the brush.
For example, if an obstruction such as tangled hair has been cut
loose from a main brush of a robotic vacuum, a vacuum suction
module may suction the cut hair particulates into the dustbin
storage container of the robotic device and the main brush of the
robotic device may begin to spin again. FIG. 3A depicts an example
of a combing module 300 with serrated edges 301 utilized for
removing tangled materials from a brush (not shown) of a robotic
device. In FIG. 3B, combing module 300 with serrated edges 301 is
positioned on main brush 302 of robotic device. Combing module 300
slides 303 along main brush 302 in order to remove any unwanted
matter from bristles 304 of main brush 302. In FIG. 3C combing
module 300 with serrated edges 301 is positioned on main brush 302
of robotic device. Combing module 300 will slide 303 along main
brush 302 in order to remove unwanted matter 305 tangled in
bristles 304 of main brush 302 in order to cut the unwanted matter
305 with serrated edge 301 of combing module 300. In FIG. 3D
combing module 300 has successfully loosened unwanted matter 305
from bristles 304 of main brush 302 utilizing serrated edge 301 of
combing module 300. In some embodiments, the comb with serrated
edges may spin as it navigates along the brush in order to assist
with cutting or dislodging any unwanted matter stuck on the brush.
In some embodiments, the comb may comprise inward facing blades or
teeth as well as a serrated outward facing blade in order to assist
with cutting and dislodging of unwanted matter. In FIG. 3E an
example of a cross section of a comb 306 is illustrated. The comb
comprising a hollow body 309 with inward facing blades 308 and
outward facing serrated edge 307 to facilitate the removal of
unwanted matter.
[0025] In some embodiments a robotic device may comprise a module
for suctioning and/or blowing air. In embodiments, when an
obstruction occurs of which a suctioning or blowing module becomes
obstructed, the one or more processors of the robotic device may
command the module to reverse the air flow that is being utilized
in order to remove the obstruction. For example, if a module is
suctioning air and the module becomes obstructed, the one or more
processors of the robotic device may command that the module
reverse the airflow in order to remove the obstruction such as by
blowing air. In embodiments, the suctioning or blowing of air may
comprise a fan impeller mechanism and the fan impeller is
reversible to provide both suctioning and blowing power. In some
embodiments, when a brush of a robotic device has had an
obstruction removed such as by, for example, a combing module, the
suctioning module may suction in the removed obstruction. In some
embodiments, when a brush of a robotic device has had an
obstruction removed such as by, for example, a combing module, the
blowing module may blow away the removed obstruction.
[0026] In embodiments, when an operational hazard has been detected
in the work environment the one or more processors of the robotic
device may note an increased likelihood of that type of operation
hazard being located in the region of the environment in which it
was encountered. For example, if a robotic device encounters a
cable on the work surface, image sensors of the robotic device may
capture features of the cable and the processor may determine it is
a cable based on an internal database of operational hazards and
their features. The processor of the robotic device may mark the
region in which the cable was encountered within an internal map of
the robotic device as a region with increased likelihood of
containing a cable. In some embodiments, the processor may further
determine if the type of operational hazard encountered may be
overcome by the robotic device. For example, the processor may
determine if the operational hazard encountered is, for example, a
liquid, but the robotic device is, for example, a vacuum, that the
operational hazard poses a danger to the robotic device and that
the robotic device should therefore avoid the liquid. In
embodiments, if the robotic device encounters and identifies a type
of operational hazard, a robotic device may alert a user or a
robotic device which has the capabilities of dealing with the
hazard. In embodiments, regions wherein the same operational hazard
are consistently encountered may be classified by a processor of
the robotic device as a high operational hazard area and may be
marked in a map of the environment as such. In embodiments, the
processor of the robotic device may attempt to alter its path in
order to avoid high operational hazard areas. In embodiments,
regions wherein operational hazards are consistently encountered
may be classified by a processor of the robotic device as a high
operational hazard area and may be marked in a map of the
environment as such. In embodiments, the processor of the robotic
device may attempt to alter its path in order to avoid high
operational hazard areas. Dynamic obstacles include obstacles of
which a robotic device does not expect to encounter, such as, for
example, moving objects including, but not limited to, pets,
humans, other robotic devices, and the like. Dynamic obstacles may
also be new obstacles that are now present in a location in which
an obstacle was not previously present. In embodiments, if a
robotic device encounters a dynamic obstacle in repeated
circumstances in a same location, the dynamic obstacle may be
considered and reclassified to be a permanent obstacle. In some
embodiments, transitions between different work surface types may
pose an operational hazard, for example, a transition from a
hardwood surface to a thick pile carpet may pose an operational
hazard as it may cause a robotic device to become unstable as it
attempts to overcome the transition. In some embodiments,
preferences may be set, and the set of preferences may determine
what poses as an operational hazard. For example, a preference may
be set that a robotic device only operate on a hard floor surface;
if a robotic device encounters a carpeted surface during operation,
based on the preferences set the transition to carpet may be
identified as an operational hazard.
[0027] In some embodiments, a mobile robotic device's navigation
and operations plan may factor in data pertaining to the number of
hazards expected to be encountered in areas of the work
environment. In embodiments, during a working session, a robotic
device may encounter areas in the work environment which contain
operational hazards. In embodiments, when a robotic device
encounters an operational hazard in the work environment, data
pertaining to the operational hazard will be compiled and kept note
of for future use. In embodiments, for example, data pertaining to
the location, date and time that the operational hazard was
encountered may be compiled for future use. In embodiments, for
example, data pertaining to the type of operational hazard
encountered, such as, for example, cables on a work surface and the
like may be compiled by, for example, a robotic device such as, for
example, a robotic vacuum. For example, if a robotic vacuum
encounters a cable, and the cable becomes entangled around a brush
of the robotic vacuum rendering the robotic vacuum inoperable, this
data will be compiled for future use. In another example, if a
robotic device encounters an operational hazard such as, for
example, a liquid on a work surface of which a robotic device can
not clean away, or which poses a danger to a robotic device, data
pertaining to this encounter may be compiled. In additional
embodiments, if a robotic device encounters an obstacle such as,
for example, a robotic device bumping into an obstacle, data
pertaining to this encounter may be compiled.
[0028] In embodiments, the robotic device may compile and catalogue
all the data regarding operational hazards that have been detected
in the work environment. In embodiments, regions where operational
hazards have been detected by the robotic device, or have been
detected by another robotic device, or in regions which have been
classified as a high operational hazard area, a robotic device may
give a lower priority to when planning a working session and
navigational route. In embodiments, in order to provide the most
efficient operational session possible, a robotic device may
prioritize working in areas with a low likelihood of containing
operational hazards over areas with a high likelihood of containing
operational hazards in order to work in the most efficient manner
possible by focusing on the areas least likely to contain an
operational hazard. In embodiments, for example, if in a bedroom
area, cables are routinely strewn about a room and encountered by a
robotic device, while in a sitting room there is routinely a low
level of operational hazards, a robotic device when planning a
working session and navigational route may prioritize operating in
the sitting room area first before operating in the bedroom.
Further, in embodiments, a scheduling module may be utilized for
setting schedules for the operations of a robotic device. For
example, a schedule may be set for a robotic device to clean an
entire house over the course of a week with the robotic device
operating daily, but only supplying the robotic device with the
ability to operate for, for example, two hours each day. In such an
example, a robotic device may prioritize cleaning functions for
areas with a low likelihood of containing operational hazards
before cleaning areas which have a higher likelihood of containing
operational hazards. In embodiments, the robotic device may keep
track of which area it has operated in during each work session. In
embodiments a robotic device may keep track of locations within
each work area in order to plan a work session and navigational
route. In embodiments, for example, a robotic device may prioritize
areas in a room that have a lower likelihood of containing
operational hazards than areas in the same room that have a higher
likelihood of containing an operational hazard, and thereby perform
functions and a navigational route as such. In some embodiments, a
robotic device may alter the functions of the robotic device based
on the presence or absence of operational hazards, or likelihood of
an operational hazard being present in a work area. In embodiments,
for example, a robotic device may operate at a faster rate of
traveling speed in areas where operational hazards are not present
or where there is a low likelihood of operational hazards being
present. In embodiments, for example, a robotic device may operate
at a slower rate of traveling speed in areas where operational
hazards are present.
[0029] In some embodiments, a memory of the robotic device may
contain an internal database of obstacles likely to be encountered
within the working environment. In embodiments, an obstacle
encountered in the work environment may be identified using various
sensors to capture features of the obstacle and the processor to
determine the type of obstacle based on the internal database. The
processor of the robotic device may note the increased likelihood
of that type of obstacle being located in the region of the
environment in which it was encountered. For example, if a robotic
device encounters a child's toy on the ground, image sensors of the
robotic device may capture features of the child's toy and the
processor may determine it is a child's toy based on an internal
database of obstacles and their features. The processor of the
robotic device may mark the region in which the child's toy was
encountered within an internal map as a region with increased
likelihood of containing a child's toy. In some embodiments, the
processor may further determine if an obstacle may be overcome by
the robotic device. For example, the processor may determine if the
obstacle is of a type that may be overcome by the robotic device
driving over the obstacle by attempting to do so. In embodiments,
for example, if a robotic device encounters an obstacle on the work
surface, and that obstacle is a cord, the robotic device may
attempt to determine whether or not it can overcome such an
obstacle by attempting to drive over it. In embodiments, for
example, if the robotic device fails to overcome the obstacle such
as, for example, a cord, then the robotic device may determine that
it should avoid cords. In embodiments, for example, if the robotic
device is successful in overcoming the obstacle, such as, for
example, a cord, then the robotic device may determine that it may
attempt to overcome similar obstacles in the future. In
embodiments, if the robotic device encounters an obstacle with
which interferes with the robotic device's functionality, or which
disables the robotic device, such as, for example, if a cord in the
environment becomes entangled with a brush of the robotic device,
the robotic device may catalogue the encounter and avoid such
obstacles in the future. In embodiments, if a robotic device
encounters a large obstacle, such as, for example, a table or
chair, the processor may determine that it cannot overcome the
obstacle and may attempt to maneuver around the obstacle. In some
embodiments, regions wherein obstacles are consistently encountered
may be classified by the processor of the robotic device as a high
traffic area. In embodiments, an area of a work environment
classified as an area with a high likelihood of containing an
obstacle and may be marked as such in an internal a map of the
robotic device of the environment. In some embodiments, the
processor of the robotic device may attempt to alter its path in
order to avoid high obstacle areas. In some embodiments, the date,
time, location, and type of obstacle encountered may be catalogued
for use in future working sessions. In embodiments, for example,
where obstacles are encountered frequently at a similar time, a
robotic device may plan a working session for such an area when
obstacles are encountered less frequently, and may prioritize
operations in other locations at the time when that area tends to
have a high frequency of obstacles.
[0030] In embodiments, utilizing a mapping module, a robotic device
may generate a map of the working environment as the robotic device
navigates through the work environment. In embodiments, with each
working session, the robotic device may generate a map of the work
environment. In embodiments, with each successive working session,
the map generated during that session may be compiled with maps
generated from prior work cycles. In embodiments, the compiled maps
may generate a comprehensive map of all the maps previously
generated. An example of a method for mapping a floor plan is
described in U.S. patent application Ser. Nos. 16/048,179 &
16/048,185, the entirety of which are hereby incorporated by
reference. In embodiments, the comprehensive map may contain data
suggestive of trends in the work environment. In embodiments, for
example, trends regarding operational hazards such as the type of
hazard encountered, location of hazard encountered, how often a
hazard or hazards are encountered, the date and or time a hazard
was encountered and the like data may be utilized for the planning
of a work session or navigational route. In embodiments, the map of
the work area may utilize a grid system, in which the work area is
divided into a grid of cells. In embodiments, as the robotic device
navigates through the work area, or operates during a working
session, data captured through sensors of the robotic device may be
recorded in each portion of the map. In embodiments, the data
captured through the sensors may be recorded for each cell in a
grid of the map. In embodiments, data obtained by a control system
or another robotic device may be recorded for each portion of the
map. In embodiments, data obtained by a control system or another
robotic device may be recorded for each portion of the map. In some
embodiments, the data may simply reflect a presence or absence of
operational hazards for that portion or cell in the map. In some
embodiments data pertaining to the type of operational hazard,
number of operational hazards, size of operational hazards, and the
like, may be represented in each cell in the map. In embodiments,
with each working session, a robotic device may record a value for
each portion of the map pertaining to data representative of
operational hazards. In embodiments, a map containing all of the
values for each portion of a map operated in may be generated by
the robotic device. In embodiments, during each working session the
robotic device will generate a new map with a new set of values for
each portion of the map. In embodiments, after each working session
the map generated is compiled into an aggregate compiled map which
is condensed from all prior maps generated during prior working
sessions. In embodiments, the aggregate map generated represents
each portion of the map as an average of the values for that
portion from all compiled past working cycles. In embodiments, the
aggregate map generated is updated after each new cycle. In
embodiments, the portions of the map may represent values with
regards to multiple types of data. In embodiments, for example,
each portion of the map may contain data representative of various
information pertaining to, for example, operational hazards,
debris, obstacles, work surface types, and the like.
[0031] In embodiments, once an aggregate map is generated, a
robotic device may be controlled or directed to navigate or operate
in locations in a work area based on data collected for the
aggregate map. In embodiments, various navigation patterns and
operational functions based on the aggregate map generated may be
envisioned. In embodiments, a robotic device may be controlled to
navigate and operate based on historical data, such as, for
example, by prioritizing operation in areas where a low likelihood
of operational hazards may be present over areas in which a high
likelihood of operational hazards may be present. In embodiments, a
robotic device may be controlled or directed to navigate or operate
based on historical data regarding the presence or absence of
obstacles in a work area. In embodiments, a robotic device may be
controlled or directed to navigate or operate in areas based on
preferences set in prior working sessions. In embodiments, a
robotic device may be controlled or directed to navigate or operate
in areas based on work surface type, such as, for example, a
robotic device being controlled to operate at a higher rate of
navigation speed on hard work surface types such as tile. In
embodiments, a robotic device may be controlled or directed to
navigate or operate in work areas with a historically lower set of
operational hazard values over other work areas with a historically
higher set of operational hazard values. In embodiments, a robotic
device may be controlled or directed to navigate or operate in a
portion of a work area rather than to operate in an entire work
area. For example, a robotic device may be controlled to operate on
first section of a hallway over a second section of a hallway. In
embodiments, a robotic device may be controlled or directed to
navigate or prioritize a working session in a first work area
before navigating or operating in a second work area. In some
embodiments, preferences may be set with regards to a working
session such that scheduling, operational functions to be performed
in the working session, and the like are preset rather than the
robotic device utilizing data from prior work cycles to predict and
enact a navigation and operations plan. In some embodiments,
machine learning may be utilized by the robotic device, such that
data from prior work sessions is utilized to predict and enact in a
working session based on data collected from prior work cycles. For
example, a robotic device may utilize data pertaining to, but not
limited to, operational hazards encountered, type of operational
hazard encountered, locations operated in, how successful a
navigational route was, obstacles encountered, types of obstacles
encountered, types of work surface operated on, scheduling
information, preferences utilized in prior working sessions,
whether multiple robotic devices were utilized, battery efficiency,
and the like information.
[0032] In some embodiments, scheduling information for the a work
session may be provided to one or more processors of the robotic
device. In some embodiments, scheduling information may be sent to
a robotic device using a mobile communication device with a
graphical user interface, remote control, a screen with graphical
user interface on the robotic device, or another type of device
that may communicate with the one or more processors of the robotic
device. For example, a graphical user interface such as that
described in U.S. patent application Ser. Nos. 15/272,752,
62/631,050, and 62/661,802, hereby incorporated by reference in
their entirety, may be used for entering scheduling information. In
some embodiments, a method for providing scheduling information to
a robotic device such as that described in U.S. patent application
Ser. No. 16/051,328, hereby incorporated by reference in its
entirety, may be used. In some embodiments a web application,
mobile application or software may be used for scheduling and
sending scheduling information to the one or more processors of the
robotic device. In some embodiments, scheduling information may be
sent to the one or more processors of the robotic device using
Wi-Fi, Bluetooth, RF, or other types of wireless connections. In
some embodiments, auditory instructions may be provided to the
robotic device by, for example, an individual, specialized
computer, robotic device, or control system. For example, an
individual may audibly command the robotic device to reverse the
direction of a mechanism which has become obstructed, or to provide
more power to a mechanism which has become obstructed, or the like.
In some embodiments, the robotic device may comprise a microphone
module to receive voice commands. In embodiments, an individual may
command the robotic device to conduct operations, setting a
schedule for the time and location of the work operations. In
embodiments, a robotic device may be given an audible command in
order to overcome an issue of which the robotic has encountered
during operations. In some embodiments, a graphical user interface
of a communications device, or a screen with graphical user
interface of a robotic device may display information regarding
operations such as what work operations are being conducted, what
work operations are scheduled and the like. In some embodiments, a
graphical user interface of a communications device or a screen
with graphical user interface of a robotic device may display
information regarding an obstruction encountered including what
mechanism is experiencing an obstruction, what has caused the
issue, when and where the issue took place, what response a robotic
device may make to overcome the issue, list a set of options for an
individual to select from for the robotic device to attempt to
overcome the issue, and the like. In some embodiments, an
individual may be able to interact with a graphical user interface
of a communications device or a screen with graphical user
interface of a robotic device for making selections of actions a
robotic device is to make such as, for example, what, where, when
and the like a robotic device is to conduct work operations, how a
robotic device is to respond to an obstruction the robotic device
has encountered, and the like. In some embodiments, when the
robotic device is unable to overcome an obstruction encountered by
the robotic device, an individual may need to manually assist the
robotic device in overcoming the obstruction. In embodiments, when
an obstruction is encountered, the robotic device may alert the
individual to the location, and type of obstruction encountered via
an auditory message, via a screen with graphical user interface of
the robotic device, via an application with graphical user
interface of a communications device such as laptop, phone, tablet
or the like, by lighting a set of lights, or the like.
[0033] The reader should appreciate that the present application
describes several independently useful techniques. Rather than
separating those techniques into multiple isolated patent
applications, the applicant has grouped these techniques into a
single document because their related subject matter lends itself
to economies in the application process. But the distinct
advantages and aspects of such techniques should not be conflated.
In some cases, embodiments address all of the deficiencies noted
herein, but it should be understood that the techniques are
independently useful, and some embodiments address only a subset of
such problems or offer other, unmentioned benefits that will be
apparent to those of skill in the art reviewing the present
disclosure. Due to costs constraints, some techniques disclosed
herein may not be presently claimed and may be claimed in later
filings, such as continuation applications or by amending the
present claims. Similarly, due to space constraints, neither the
Abstract nor the Summary of the Invention sections of the present
document should be taken as containing a comprehensive listing of
all such techniques or all aspects of such techniques.
[0034] It should be understood that the description and the
drawings are not intended to limit the present techniques to the
particular form disclosed, but to the contrary, the intention is to
cover all modifications, equivalents, and alternatives falling
within the spirit and scope of the present techniques as defined by
the appended claims. Further modifications and alternative
embodiments of various aspects of the techniques will be apparent
to those skilled in the art in view of this description.
Accordingly, this description and the drawings are to be construed
as illustrative only and are for the purpose of teaching those
skilled in the art the general manner of carrying out the present
techniques. It is to be understood that the forms of the present
techniques shown and described herein are to be taken as examples
of embodiments. Elements and materials may be substituted for those
illustrated and described herein, parts and processes may be
reversed or omitted, and certain features of the present techniques
may be utilized independently, all as would be apparent to one
skilled in the art after having the benefit of this description of
the present techniques. Changes may be made in the elements
described herein without departing from the spirit and scope of the
present techniques as described in the following claims. Headings
used herein are for organizational purposes only and are not meant
to be used to limit the scope of the description.
[0035] As used throughout this application, the word "may" is used
in a permissive sense (i.e., meaning having the potential to),
rather than the mandatory sense (i.e., meaning must). The words
"include", "including", and "includes" and the like mean including,
but not limited to. As used throughout this application, the
singular forms "a," "an," and "the" include plural referents unless
the content explicitly indicates otherwise. Thus, for example,
reference to "an element" or "a element" includes a combination of
two or more elements, notwithstanding use of other terms and
phrases for one or more elements, such as "one or more." The term
"or" is, unless indicated otherwise, non-exclusive, i.e.,
encompassing both "and" and "or." Terms describing conditional
relationships (e.g., "in response to X, Y," "upon X, Y,", "if X,
Y," "when X, Y," and the like) encompass causal relationships in
which the antecedent is a necessary causal condition, the
antecedent is a sufficient causal condition, or the antecedent is a
contributory causal condition of the consequent (e.g., "state X
occurs upon condition Y obtaining" is generic to "X occurs solely
upon Y" and "X occurs upon Y and Z"). Such conditional
relationships are not limited to consequences that instantly follow
the antecedent obtaining, as some consequences may be delayed, and
in conditional statements, antecedents are connected to their
consequents (e.g., the antecedent is relevant to the likelihood of
the consequent occurring). Statements in which a plurality of
attributes or functions are mapped to a plurality of objects (e.g.,
one or more processors performing steps A, B, C, and D) encompasses
both all such attributes or functions being mapped to all such
objects and subsets of the attributes or functions being mapped to
subsets of the attributes or functions (e.g., both all processors
each performing steps A-D, and a case in which processor 1 performs
step A, processor 2 performs step B and part of step C, and
processor 3 performs part of step C and step D), unless otherwise
indicated. Further, unless otherwise indicated, statements that one
value or action is "based on" another condition or value encompass
both instances in which the condition or value is the sole factor
and instances in which the condition or value is one factor among a
plurality of factors. Unless otherwise indicated, statements that
"each" instance of some collection have some property should not be
read to exclude cases where some otherwise identical or similar
members of a larger collection do not have the property (i.e., each
does not necessarily mean each and every). Limitations as to
sequence of recited steps should not be read into the claims unless
explicitly specified, e.g., with explicit language like "after
performing X, performing Y," in contrast to statements that might
be improperly argued to imply sequence limitations, like
"performing X on items, performing Y on the X'ed items," used for
purposes of making claims more readable rather than specifying
sequence. Statements referring to "at least Z of A, B, and C," and
the like (e.g., "at least Z of A, B, or C"), refer to at least Z of
the listed categories (A, B, and C) and do not require at least Z
units in each category. Unless specifically stated otherwise, as
apparent from the discussion, it is appreciated that throughout
this specification discussions utilizing terms such as
"processing," "computing," "calculating," "determining" or the like
refer to actions or processes of a specific apparatus specially
designed to carry out the stated functionality, such as a special
purpose computer or a similar special purpose electronic
processing/computing device. Features described with reference to
geometric constructs, like "parallel," "perpendicular/orthogonal,"
"square", "cylindrical," and the like, should be construed as
encompassing items that substantially embody the properties of the
geometric construct (e.g., reference to "parallel" surfaces
encompasses substantially parallel surfaces). The permitted range
of deviation from Platonic ideals of these geometric constructs is
to be determined with reference to ranges in the specification, and
where such ranges are not stated, with reference to industry norms
in the field of use, and where such ranges are not defined, with
reference to industry norms in the field of manufacturing of the
designated feature, and where such ranges are not defined, features
substantially embodying a geometric construct should be construed
to include those features within 15% of the defining attributes of
that geometric construct. Negative inferences should not be taken
from inconsistent use of "(s)" when qualifying items as possibly
plural, and items without this designation may also be plural.
[0036] The present techniques will be better understood with
reference to the following enumerated embodiments: [0037] 1. A
method for a robotic device to overcome obstructions hindering the
operations of the robotic device, the method comprising: providing
a robotic device, the robotic device comprising: one or more
processors, a chassis including a set of wheels, a motor for
driving the set of wheels, a rechargeable battery for providing
power to the robotic device, a control system module for
controlling the movement of the robotic device, a set of sensors, a
screen with graphical user interface, and a motor for providing
increased power to modules of the robotic device when the modules
become obstructed; The robotic device encountering an obstruction;
and the robotic device autonomously enacting one or more
predetermined responses to attempt to overcome the obstruction.
[0038] 2. The method of embodiment 1, wherein: when a wheel of the
robotic device becomes obstructed, additional power is provided to
the wheel by a motor of the robotic device to overcome the
obstruction by spinning at a higher rotation speed. [0039] 3. The
method of embodiment 1, wherein: when a wheel of the robotic device
becomes obstructed, the wheel is reversed for overcoming the
obstruction and the robotic device thereby navigates in a reverse
direction for overcoming the obstruction. [0040] 4. The method of
embodiment 1, wherein: the wheels of the robotic device are
omnidirectional wheels, and as such when they become obstructed,
the wheels turn to navigate the robotic device in a direction such
that the wheels become unobstructed. [0041] 5. The method of
embodiment 1, wherein: when a side brush of the robotic device
becomes obstructed, the side brush reverses the direction it is
spinning in for overcoming the obstruction. [0042] 6. The method of
embodiment 1, wherein: when a side brush of the robotic device
becomes obstructed, additional power is provided to the side brush
by a motor of the robotic device to overcome the obstruction by
spinning at a higher rotational speed. [0043] 7. The method of
embodiment 1, wherein: when a side brush of the robotic device
becomes obstructed, the robotic device navigates in a predetermined
direction in order to overcome the obstruction. [0044] 8. The
method of embodiment 1, wherein: when a wheel of the robotic device
becomes obstructed, additional power is provided to the wheel by a
motor of the robotic device to overcome the obstruction by spinning
at a higher rotational speed. [0045] 9. The method of embodiment 1,
wherein: when a main brush of the robotic device becomes
obstructed, additional power is provided to the main brush by a
motor of the robotic device to overcome the obstruction by spinning
at a higher rotational speed. [0046] 10. The method of embodiment
1, wherein: when a main brush of the robotic device becomes
obstructed, the main brush reverses the direction it is spinning in
for overcoming the obstruction. [0047] 11. The method of embodiment
1, wherein: when a main brush of the robotic device becomes
obstructed, the robotic device navigates in a predetermined
direction in order to overcome the obstruction. [0048] 12. The
method of embodiment 1, wherein: a comb with a serrated edge is
provided on the main brush of the robotic device, a motor providing
power to the comb with serrated edge such that the comb with
serrated edge navigates along the surface of the main brush by
sliding over it. [0049] 13. The method of embodiment 13, wherein:
when the main brush becomes entangled with an obstruction along the
bristles of the main brush, the comb with serrated edge navigates
along the surface of the main brush such that the serrated edges of
the comb slice through and free away the obstruction. [0050] 14.
The method of embodiment 1, wherein: when a vacuuming module of the
robotic device becomes obstructed, a motor provides additional
power to the module such that a higher rate of suction is achieved
in order to overcome the obstruction. [0051] 15. The method of
embodiment 1, wherein: when a vacuuming module of the robotic
device becomes obstructed, the module reverses the airflow such
that the module is blowing air in order to overcome the
obstruction. [0052] 16. The method of embodiment 1, wherein: when a
robotic device encounters an obstruction of which the robotic
device is unable to overcome, the robotic device makes an alert by
any of: generating a sound, generating an audio message, via a
message of a screen with graphical user interface of the robotic
device, via an application with graphical user interface of a
communications device, or by display of a light. [0053] 17. A
system comprising any one of embodiments 1-16.
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