权利要求：
1. A tidying robot system comprising:
a robot including:
a chassis;
a robot vacuum system including a vacuum generating assembly and a dirt collector;
a scoop;
pusher pad arms with pusher pads;
a robot charge connector;
at least one wheel or one track for mobility of the robot;
a battery;
a processor; and
a memory storing instructions that, when executed by the processor, allow operation and control of the robot;
a base station with a base station charge connector configured to couple with the robot charge connector;
a robotic control system in at least one of the robot and a cloud server; and
logic, to:
receive a starting location, a target cleaning area, attributes of the target cleaning area, and obstructions in a path of the robot navigating in the target cleaning area;
determine a tidying strategy including a vacuuming strategy and an obstruction handling strategy;
execute the tidying strategy to at least one of vacuum the target cleaning area, move an obstruction, and avoid the obstruction, wherein the obstruction includes at least one of a tidyable object and a moveable object;
on condition the obstruction can be picked up:
determine a pickup strategy and execute the pickup strategy;
capture the obstruction with the pusher pads; and
place the obstruction in the scoop;
on condition the obstruction can be relocated but cannot be picked up;
push the obstruction to a different location using at least one of the pusher pads, the scoop, and the chassis; and
on condition the obstruction cannot be relocated and cannot be picked up;
avoid the obstruction by altering the path of the robot around the obstruction; and
determine if the dirt collector is full;
on condition the dirt collector is full:
navigate to the base station; and
on condition the dirt collector is not full:
continue executing the tidying strategy.
2. The tidying robotic system of claim 1, wherein the vacuum generating assembly comprises:
a vacuum compartment including:
a vacuum compartment intake port configured to allow a cleaning airflow into the vacuum compartment;
a rotating brush configured to impel dirt and dust into the vacuum compartment;
the dirt collector in fluid communication with the vacuum compartment intake port;
a dirt release latch configured to selectively allow access to the dirt collector from outside of the chassis;
a vacuum compartment filter in fluid communication with the dirt collector;
a vacuum compartment fan in fluid communication with the vacuum compartment filter;
a vacuum compartment motor driving the vacuum compartment fan; and
a vacuum compartment exhaust port in fluid communication with the vacuum compartment fan and configured to allow the cleaning airflow out of the vacuum compartment.
3. The tidying robotic system of claim 1, the base station further comprising:
a vacuum emptying system, including:
a vacuum emptying system intake port configured to allow a vacuum emptying airflow into the vacuum emptying system;
a vacuum emptying system filter bag in fluid communication with the vacuum emptying system intake port;
a vacuum emptying system fan in fluid communication with the vacuum emptying system filter bag;
a vacuum emptying system motor driving the vacuum emptying system fan; and
a vacuum emptying system exhaust port in fluid communication with the vacuum emptying system fan and configured to allow the vacuum emptying airflow out of the vacuum emptying system.
4. The tidying robotic system of claim 3, the base station further comprising an object collection bin configured to accept obstructions deposited by the scoop into the object collection bin; and
the logic further comprising:
execute a drop strategy including transferring the obstructions in the scoop into the object collection bin.
5. The tidying robotic system of claim 3, wherein an object collection bin is located on top of the base station.
6. The tidying robotic system of claim 1, further comprising an object collection bin configured to accept obstructions deposited by the scoop into the object collection bin; and
the logic further comprising:
on condition the scoop is full:
navigate to the object collection bin;
execute a drop strategy including transferring the obstructions in the scoop into the object collection bin; and
continue executing the tidying strategy.
7. The tidying robotic system of claim 1, wherein the logic for the vacuuming strategy includes at least one of:
choose a vacuum cleaning pattern for the target cleaning area;
identify the obstructions in the target cleaning area;
determine how to handle the obstruction in the path of the robot, including at least one of:
move the obstruction; and
avoid the obstruction;
vacuum the target cleaning area if the robot has adequate battery power; and
return to the base station if at least one of the robot does not have adequate battery power and the vacuuming of the target cleaning area is completed.
8. The tidying robotic system of claim 7, the logic for the vacuuming strategy further comprising at least one of:
move the obstruction to a portion of the target cleaning area that has been vacuumed; and
move the obstruction aside, in close proximity to the path, so that the obstruction will not obstruct the robot continuing along the path.
9. The tidying robotic system of claim 7, the logic for the vacuuming strategy further comprising:
execute an immediate removal strategy, including:
execute the pickup strategy to place the obstruction in the scoop;
navigate, immediately, to a target storage bin;
place the obstruction into the target storage bin;
navigate to the position the obstruction was placed into the scoop; and
resume vacuuming the target cleaning area;
execute an in-situ removal strategy, including:
execute the pickup strategy to place the obstruction in the scoop;
continue vacuuming the target cleaning area;
on condition a location of the robot is near the target storage bin:
navigate to the target storage bin;
place the obstruction in the target storage bin; and
continue vacuuming, from a location of the target storage bin, the target cleaning area.
10. The tidying robotic system of claim 1, wherein the logic for the pickup strategy includes:
an approach path for the robot to the obstruction;
a grabbing height for initial contact with the obstruction;
a grabbing pattern for movement of the pusher pads while capturing the obstruction; and
a carrying position of the pusher pads and the scoop that secures the obstruction in a containment area on the robot for transport, the containment area including at least two of the pusher pad arms, the pusher pads, and the scoop;
execute the pickup strategy, including:
extend the pusher pads out and forward with respect to the pusher pad arms and raising the pusher pads to the grabbing height;
approach the obstruction via the approach path, coming to a stop when the obstruction is positioned between the pusher pads;
execute the grabbing pattern to allow capture of the obstruction within the containment area; and
confirm the obstruction is within the containment area;
on condition that the obstruction is within the containment area:
exert pressure on the obstruction with the pusher pads to hold the obstruction stationary in the containment area; and
raise at least one of the scoop and the pusher pads, holding the obstruction, to the carrying position;
on condition that the obstruction is not within the containment area:
alter the pickup strategy with at least one of a different reinforcement learning based strategy, a different rules based strategy, and relying upon different observations, current object state, and sensor data; and
execute the altered pickup strategy.
11. A method comprising:
receiving, at a robot of a tidying robot system, a starting location, a target cleaning area, attributes of the target cleaning area, and obstructions in a path of the robot navigating in the target cleaning area,
wherein the robot is configured with a chassis, a scoop, pusher pad arms with pusher pads, a robot charge connector, at least one wheel or one track for mobility of the robot, a battery, a robot vacuum system including a vacuum generating assembly and a dirt collector, a processor, and a memory storing instructions that, when executed by the processor, allow operation and control of the robot, and
wherein the robot is in communication with a robotic control system in at least one of the robot and a cloud server;
determining a tidying strategy including a vacuuming strategy and an obstruction handling strategy;
executing, by the robot, the tidying strategy by at least one of:
vacuuming the target cleaning area;
moving an obstruction; and
avoiding the obstruction, wherein the obstruction includes at least one of a tidyable object and a moveable object;
on condition the obstruction can be picked up:
determining a pickup strategy and execute the pickup strategy;
capturing the obstruction with the pusher pads; and
placing the obstruction in the scoop;
on condition the obstruction can be relocated but cannot be picked up;
pushing the obstruction to a different location using at least one of the pusher pads, the scoop, and the chassis; and
on condition the obstruction cannot be relocated and cannot be picked up;
avoiding the obstruction by altering the path of the robot around the obstruction; and
determining if the dirt collector is full;
on condition the dirt collector is full:
navigating to a base station having a base station charge connector configured to couple with the robot charge connector; and
on condition the dirt collector is not full:
continuing to execute the tidying strategy.
12. The method of claim 11, wherein the vacuum generating assembly comprises:
a vacuum compartment including:
a vacuum compartment intake port configured to allow a cleaning airflow into the vacuum compartment;
a rotating brush configured to impel dirt and dust into the vacuum compartment;
the dirt collector in fluid communication with the vacuum compartment intake port;
a dirt release latch configured to selectively allow access to the dirt collector from outside of the chassis;
a vacuum compartment filter in fluid communication with the dirt collector;
a vacuum compartment fan in fluid communication with the vacuum compartment filter;
a vacuum compartment motor driving the vacuum compartment fan; and
a vacuum compartment exhaust port in fluid communication with the vacuum compartment fan and configured to allow the cleaning airflow out of the vacuum compartment.
13. The method of claim 11, the base station further comprising:
a vacuum emptying system, including:
a vacuum emptying system intake port configured to allow a vacuum emptying airflow into the vacuum emptying system;
a vacuum emptying system filter bag in fluid communication with the vacuum emptying system intake port;
a vacuum emptying system fan in fluid communication with the vacuum emptying system filter bag;
a vacuum emptying system motor driving the vacuum emptying system fan; and
a vacuum emptying system exhaust port in fluid communication with the vacuum emptying system fan and configured to allow the vacuum emptying airflow out of the vacuum emptying system.
14. The method of claim 13, the base station further comprising an object collection bin configured to accept obstructions deposited by the scoop into the object collection bin; and
the method further comprising:
executing a drop strategy including transferring the obstructions in the scoop into the object collection bin.
15. The method of claim 13, wherein an object collection bin is located on top of the base station.
16. The method of claim 11, further comprising:
on condition the scoop is full:
navigating to an object collection bin configured to accept obstructions deposited by the scoop into the object collection bin;
executing a drop strategy including transferring the obstructions in the scoop into the object collection bin; and
continue executing the tidying strategy.
17. The method of claim 11, wherein the vacuuming strategy includes at least one of:
choosing a vacuum cleaning pattern for the target cleaning area;
identifying the obstructions in the target cleaning area;
determining how to handle the obstruction in the path of the robot, including at least one of:
moving the obstruction; and
avoiding the obstruction;
vacuuming the target cleaning area if the robot has adequate battery power; and
returning to the base station if at least one of the robot does not have adequate battery power and the vacuuming of the target cleaning area is completed.
18. The method of claim 17, the vacuuming strategy further comprising at least one of:
moving the obstruction to a portion of the target cleaning area that has been vacuumed; and
moving the obstruction aside, in close proximity to the path, so that the obstruction will not obstruct the robot continuing along the path.
19. The method of claim 17, the vacuuming strategy further comprising:
executing an immediate removal strategy, including:
executing the pickup strategy to place the obstruction in the scoop;
navigating, immediately, to a target storage bin;
placing the obstruction into the target storage bin;
navigating to the position the obstruction was placed into the scoop; and
resuming vacuuming the target cleaning area;
executing an in-situ removal strategy, including:
executing the pickup strategy to place the obstruction in the scoop;
continue vacuuming the target cleaning area;
on condition a location of the robot is near the target storage bin:
navigating to the target storage bin;
placing the obstruction in the target storage bin; and
continue vacuuming, from a location of the target storage bin, the target cleaning area.
20. The method of claim 11, wherein the pickup strategy includes:
an approach path for the robot to the obstruction;
a grabbing height for initial contact with the obstruction;
a grabbing pattern for movement of the pusher pads while capturing the obstruction; and
a carrying position of the pusher pads and the scoop that secures the obstruction in a containment area on the robot for transport, the containment area including at least two of the pusher pad arms, the pusher pads, and the scoop; and
executing the pickup strategy, includes:
extending the pusher pads out and forward with respect to the pusher pad arms and raising the pusher pads to the grabbing height;
approaching the obstruction via the approach path, coming to a stop when the obstruction is positioned between the pusher pads;
executing the grabbing pattern to allow capture of the obstruction within the containment area; and
confirming the obstruction is within the containment area;
on condition that the obstruction is within the containment area:
exerting pressure on the obstruction with the pusher pads to hold the obstruction stationary in the containment area; and
raising at least one of the scoop and the pusher pads, holding the obstruction, to the carrying position;
on condition that the obstruction is not within the containment area:
altering the pickup strategy with at least one of a different reinforcement learning based strategy, a different rules based strategy, and relying upon different observations, current object state, and sensor data; and
executing the altered pickup strategy.
具体实施方式：
[0064]The disclosed solution comprises a tidying robot capable of vacuuming a floor as well as avoiding static objects and movable objects and manipulating (picking up and/or relocating) tidyable objects encountered while vacuuming, or detected before vacuuming begins.
[0065]The term “Static object” in this disclosure refers to elements of a scene that are not expected to change over time, typically because they are rigid and immovable. Some composite objects may be split into a movable part and a static part. Examples include door frames, bookshelves, walls, countertops, floors, couches, dining tables, etc.
[0066]The term “Movable object” in this disclosure refers to elements of the scene that are not desired to be moved by the robot (e.g., because they are decorative, too large, or attached to something), but that may be moved or deformed in the scene due to human influence. Some composite objects may be split into a movable part and a static part. Examples include doors, windows, blankets, rugs, chairs, laundry baskets, storage bins, etc.
[0067]The term “Tidyable object” in this disclosure refers to elements of the scene that may be moved by the robot and put away in a home location. These objects may be of a type and size such that the robot may autonomously put them away, such as toys, clothing, books, stuffed animals, soccer balls, garbage, remote controls, keys, cellphones, etc.
[0068]Embodiments of a robotic system are disclosed that operate a robot to navigate an environment using cameras to map the type, size, and location of toys, clothing, obstacles, and other objects. The robot comprises a neural network to determine the type, size, and location of objects based on input from a sensing system, such as images from a forward camera, a rear camera, forward and rear left/right stereo cameras, or other camera configurations, as well as data from inertial measurement unit (IMU), lidar, odometry, and actuator force feedback sensors. The robot chooses a specific object to pick up, performs path planning, and navigates to a point adjacent to and facing the target object. Actuated pusher pad arms move other objects out of the way and maneuver pusher pads to move the target object onto a scoop to be carried. The scoop tilts up slightly and, if needed, pusher pads may close in front to keep objects in place, while the robot navigates to the next location in the planned path, such as the deposition destination.
[0069]In some embodiments, the system may include a robotic arm to reach and grasp elevated objects and move them down to the scoop. A companion “portable elevator” robot may also be utilized in some embodiments to lift the main robot up onto countertops, tables, or other elevated surfaces, and then lower it back down onto the floor. Some embodiments may utilize an up/down vertical lift (e.g., a scissor lift) to change the height of the scoop when dropping items into a container, shelf, or other tall or elevated location.
[0070]Some embodiments may also utilize one or more of the following components:
[0071]Left/right rotating brushes on actuator arms that push objects onto the scoop An actuated gripper that grabs objects and moves them onto the scoop A rotating wheel with flaps that push objects onto the scoop from above One servo or other actuator to lift the front scoop up into the air and another separate actuator that tilts the scoop forward and down to drop objects into a container A variation on a scissor lift that lifts the scoop up and gradually tilts it backward as it gains height Ramps on the container with the front scoop on a hinge so that the robot just pushes items up the ramp such that the objects drop into the container with gravity at the top of the ramp A storage bin on the robot for additional carrying capacity such that target objects are pushed up a ramp into the storage bin instead of using a front scoop and the storage bin tilts up and back like a dump truck to drop items into a container
[0072]The robotic system may be utilized for automatic organization of surfaces where items left on the surface are binned automatically into containers on a regular schedule. In one specific embodiment, the system may be utilized to automatically neaten a children's play area (e.g., in a home, school, or business) where toys and/or other items are automatically returned to containers specific to different types of objects after the children are done playing. In other specific embodiments, the system may be utilized to automatically pick clothing up off the floor and organize the clothing into laundry basket(s) for washing, or to automatically pick up garbage off the floor and place it into a garbage bin or recycling bin(s), e.g., by type (plastic, cardboard, glass). Generally, the system may be deployed to efficiently pick up a wide variety of different objects from surfaces and may learn to pick up new types of objects.
[0073]FIG. 1A through FIG. 1D illustrate a robot 100 in accordance with one embodiment. FIG. 1A illustrates a side view of the robot 100, and FIG. 1B illustrates a top view. The robot 100 may comprise a chassis 102, a mobility system 104, a sensing system 106, a capture and containment system 108, and a robotic control system 1100. The capture and containment system 108 may further comprise a scoop 110, a scoop arm 112, a scoop arm pivot point 114, two pusher pads 116, two pusher pad arms 118, and two pad arm pivot points 122.
[0074]The chassis 102 may support and contain the other components of the robot 100. The mobility system 104 may comprise wheels as indicated, as well as caterpillar tracks, conveyor belts, etc., as is well understood in the art. The mobility system 104 may further comprise motors, servos, or other sources of rotational or kinetic energy to impel the robot 100 along its desired paths. Mobility system 104 components may be mounted on the chassis 102 for the purpose of moving the entire robot without impeding or inhibiting the range of motion needed by the capture and containment system 108. Elements of a sensing system 106, such as cameras, lidar sensors, or other components, may be mounted on the chassis 102 in positions giving the robot 100 clear lines of sight around its environment in at least some configurations of the chassis 102, scoop 110, pusher pad 116, and pusher pad arm 118 with respect to each other.
[0075]The chassis 102 may house and protect all or portions of the robotic control system 1100, (portions of which may also be accessed via connection to a cloud server) comprising in some embodiments a processor, memory, and connections to the mobility system 104, sensing system 106, and capture and containment system 108. The chassis 102 may contain other electronic components such as batteries, wireless communication devices, etc., as is well understood in the art of robotics. The robotic control system 1100 may function as described in greater detail with respect to FIG. 11. The mobility system 104 and or the robotic control system 1100 may incorporate motor controllers used to control the speed, direction, position, and smooth movement of the motors. Such controllers may also be used to detect force feedback and limit maximum current (provide overcurrent protection) to ensure safety and prevent damage.
[0076]The capture and containment system 108 may comprise a scoop 110, a scoop arm 112, a scoop arm pivot point 114, a pusher pad 116, a pusher pad arm 118, a pad pivot point 120, and a pad arm pivot point 122. In some embodiments, the capture and containment system 108 may include two pusher pad arms 118, pusher pads 116, and their pivot points. In other embodiments, pusher pads 116 may attach directly to the scoop 110, without pusher pad arms 118. Such embodiments are illustrated later in this disclosure.
[0077]The geometry and of the scoop 110 and the disposition of the pusher pads 116 and pusher pad arms 118 with respect to the scoop 110 may describe a containment area, illustrated more clearly in FIG. 2A through FIG. 2E, in which objects may be securely carried. Servos, direct current (DC) motors, or other actuators at the scoop arm pivot point 114, pad pivot points 120, and pad arm pivot points 122 may be used to adjust the disposition of the scoop 110, pusher pads 116, and pusher pad arms 118 between fully lowered scoop and grabber positions and raised scoop and grabber positions, as illustrated with respect to FIG. 2A through FIG. 2C.
[0078]The point of connection shown between the scoop arms and pusher pad arms is an exemplary position and is not intended to limit the physical location of such points of connection. Such connections may be made in various locations as appropriate to the construction of the chassis and arms, and the applications of intended use.
[0079]In some embodiments, gripping surfaces may be configured on the sides of the pusher pads 116 facing inward toward objects to be lifted. These gripping surfaces may provide cushion, grit, elasticity, or some other feature that increases friction between the pusher pads 116 and objects to be captured and contained. In some embodiments, the pusher pad 116 may include suction cups in order to better grasp objects having smooth, flat surfaces. In some embodiments, the pusher pads 116 may be configured with sweeping bristles. These sweeping bristles may assist in moving small objects from the floor up onto the scoop 110. In some embodiments, the sweeping bristles may angle down and inward from the pusher pads 116, such that, when the pusher pads 116 sweep objects toward the scoop 110, the sweeping bristles form a ramp, allowing the foremost bristles to slide beneath the object, and direct the object upward toward the pusher pads 116, facilitating capture of the object within the scoop and reducing a tendency of the object to be pressed against the floor, increasing its friction and making it more difficult to move.
[0080]FIG. 1C and FIG. 1D illustrate a side view and top view of the chassis 102, respectively, along with the general connectivity of components of the mobility system 104, sensing system 106, and communications 134, in connection with the robotic control system 1100. In some embodiments, the communications 134 may include the network interface 1112 described in greater detail with respect to robotic control system 1100.
[0081]In one embodiment, the mobility system 104 may comprise a right front wheel 136, a left front wheel 138, a right rear wheel 140, and a left rear wheel 142. The robot 100 may have front-wheel drive, where right front wheel 136 and left front wheel 138 are actively driven by one or more actuators or motors, while the right rear wheel 140 and left rear wheel 142 spin on an axle passively while supporting the rear portion of the chassis 102. In another embodiment, the robot 100 may have rear-wheel drive, where the right rear wheel 140 and left rear wheel 142 are actuated and the front wheels turn passively. In another embodiment, each wheel may be actively actuated by separate motors or actuators.
[0082]The sensing system 106 may further comprise cameras 124 such as the front cameras 126 and rear cameras 128, light detecting and ranging (LIDAR) sensors such as lidar sensors 130, and inertial measurement unit (IMU) sensors, such as IMU sensors 132. In some embodiments, front camera 126 may include the front right camera 144 and front left camera 146. In some embodiments, rear camera 128 may include the rear left camera 148 and rear right camera 150.
[0083]Additional embodiments of the robot that may be used to perform the disclosed algorithms are illustrated in FIG. 2A through FIG. 2E, FIG. 3A through FIG. 3C, FIG. 4A through FIG. 4C, FIG. 5, FIG. 6A through FIG. 6D, and FIG. 8.
[0084]FIG. 2A illustrates a robot 100 such as that introduced with respect to FIG. 1A disposed in a lowered scoop position and lowered pusher position 200a. In this configuration, the pusher pads 116 and pusher pad arms 118 rest in a lowered pusher position 204, and the scoop 110 and scoop arm 112 rest in a lowered scoop position 206 at the front 202 of the robot 100. In this position, the scoop 110 and pusher pads 116 may roughly describe a containment area 210 as shown.
[0085]FIG. 2B illustrates a robot 100 with a lowered scoop position and raised pusher position 200b. Through the action of servos or other actuators at the pad pivot points 120 and pad arm pivot points 122, the pusher pads 116 and pusher pad arms 118 may be raised to a raised pusher position 208 while the scoop 110 and scoop arm 112 maintain a lowered scoop position 206. In this configuration, the pusher pads 116 and scoop 110 may roughly describe a containment area 210 as shown, in which an object taller than the scoop 110 height may rest within the scoop 110 and be held in place through pressure exerted by the pusher pads 116.
[0086]Pad arm pivot points 122, pad pivot points 120, scoop arm pivot points 114 and scoop pivot points 502 (as shown in FIG. 5) may provide the robot 100 a range of motion of these components beyond what is illustrated herein. The positions shown in the disclosed figures are illustrative and not meant to indicate the limits of the robot's component range of motion.
[0087]FIG. 2C illustrates a robot 100 with a raised scoop position and raised pusher position 200c. The pusher pads 116 and pusher pad arms 118 may be in a raised pusher position 208 while the scoop 110 and scoop arm 112 are in a raised scoop position 212. In this position, the robot 100 may be able to allow objects drop from the scoop 110 and pusher pad arms 118 to an area at the rear 214 of the robot 100.
[0088]The carrying position may involve the disposition of the pusher pads 116, pusher pad arms 118, scoop 110, and scoop arm 112, in relative configurations between the extremes of lowered scoop position and lowered pusher position 200a and raised scoop position and raised pusher position 200c.
[0089]FIG. 2D illustrates a robot 100 with pusher pads extended 200d. By the action of servos or other actuators at the pad pivot points 120, the pusher pads 116 may be configured as extended pusher pads 216 to allow the robot 100 to approach objects as wide or wider than the robot chassis 102 and scoop 110. In some embodiments, the pusher pads 116 may be able to rotate through almost three hundred and sixty degrees, to rest parallel with and on the outside of their associated pusher pad arms 118 when fully extended.
[0090]FIG. 2E illustrates a robot 100 with pusher pads retracted 200e. The closed pusher pads 218 may roughly define a containment area 210 through their position with respect to the scoop 110. In some embodiments, the pusher pads 116 may be able to rotate farther than shown, through almost three hundred and sixty degrees, to rest parallel with and inside of the side walls of the scoop 110.
[0091]FIG. 3A through FIG. 3C illustrate a robot 100 such as that introduced with respect to FIG. 1A through FIG. 2E. In such an embodiment, the pusher pad arms 118 may be controlled by a servo or other actuator at the same point of connection 302 with the chassis 102 as the scoop arms 112. The robot 100 may be seen disposed in a lowered scoop position and lowered pusher position 300a, a lowered scoop position and raised pusher position 300b, and a raised scoop position and raised pusher position 300c. This robot 100 may be configured to perform the algorithms disclosed herein.
[0092]The point of connection shown between the scoop arms 112/pusher pad arms 118 and the chassis 102 is an exemplary position and is not intended to limit the physical location of this point of connection. Such connection may be made in various locations as appropriate to the construction of the chassis 102 and arms, and the applications of intended use.
[0093]FIG. 4A through FIG. 4C illustrate a robot 100 such as that introduced with respect to FIG. 1A through FIG. 2E. In such an embodiment, the pusher pad arms 118 may be controlled by a servo or servos (or other actuators) at different points of connection 402 with the chassis 102 from those controlling the scoop arm 112. The robot 100 may be seen disposed in a lowered scoop position and lowered pusher position 400a, a lowered scoop position and raised pusher position 400b, and a raised scoop position and raised pusher position 400c. This robot 100 may be configured to perform the algorithms disclosed herein.
[0094]The different points of connection 402 between the scoop arm and chassis and the pusher pad arms and chassis shown are exemplary positions and not intended to limit the physical locations of these points of connection. Such connections may be made in various locations as appropriate to the construction of the chassis and arms, and the applications of intended use.
[0095]FIG. 5 illustrates a robot 100 such as was previously introduced in a front drop position 500. The arms of the robot 100 may be positioned to form a containment area 210 as previously described.
[0096]The robot 100 may be configured with a scoop pivot point 502 where the scoop 110 connects to the scoop arm 112. The scoop pivot point 502 may allow the scoop 110 to be tilted forward and down while the scoop arm 112 is raised, allowing objects in the containment area 210 to slide out and be deposited in an area to the front 202 of the robot 100.
[0097]FIG. 6A-FIG. 6D illustrate a tidying robot 600 in accordance with one embodiment. FIG. 6A shows a left side view, FIG. 6B shows a top view, FIG. 6C shows a left side view of the tidying robot 600 in an alternative position, and FIG. 6D shows the tidying robot 600 performing a front dump action. The tidying robot 600 may comprise a chassis 102, a mobility system 104 and at least one motor 602 to actuate it; a scoop 110 and an associated motor 604 to rotate the scoop 110 into different positions; a scoop arm 112 and an associated motor 606 and linear actuator 608 to raise/lower and extend the scoop arm 112, respectively; pusher pads 116 and associated motors 610 to rotate the pusher pads 116 into different positions; pusher pad arms 118 and associated motors 612 to raise, lower, and extend the pusher pad arms 118; a vacuum compartment 616 having a vacuum compartment intake port 618, a rotating brush 620, a dirt collector 622, a dirt release latch 624, a vacuum compartment filter 626, a vacuum compartment fan 628 and a vacuum compartment motor 630 to actuate it, and a vacuum compartment exhaust port 632; a robot charge connector 634 to connect to the base station 700 described in greater detail with respect to FIG. 7A and FIG. 7B below; a battery 636; cameras 124; and a robotic control system 1100, as described in greater detail with respect to FIG. 11.
[0098]The tidying robot 600 may be configured, incorporate features of, and behave similarly to the robot 100 described with respect to the preceding figures. In addition to the features of the robot 100, the tidying robot 600 may incorporate a robot vacuum system 614. A vacuum compartment 616 may have a vacuum compartment intake port 618 allowing cleaning airflow 638 into the vacuum compartment 616. The vacuum compartment intake port 618 may be configured with a rotating brush 620 to impel dirt and dust into the vacuum compartment 616. Cleaning airflow 638 may be induced by a vacuum compartment fan 628 to flow through the vacuum compartment 616 from the vacuum compartment intake port 618 to a vacuum compartment exhaust port 632, exiting the vacuum compartment 616 at the vacuum compartment exhaust port 632. The vacuum compartment exhaust port 632 may be covered by a grating or other element permeable to cleaning airflow 638 but able to prevent the ingress of objects into the chassis 102 of the tidying robot 600.
[0099]A vacuum compartment filter 626 may be disposed between the vacuum compartment intake port 618 and the vacuum compartment exhaust port 632. The vacuum compartment filter 626 may prevent dirt and dust from entering and clogging the vacuum compartment fan 628. The vacuum compartment filter 626 may be disposed such that blocked dirt and dust are deposited within a dirt collector 622. The dirt collector 622 may be closed off from the outside of the chassis 102 by a dirt release latch 624. The dirt release latch 624 may be configured to open when the tidying robot 600 is docked at a base station 700 with a vacuum compartment 616 emptying system, as is illustrated in FIG. 7A and FIG. 7B below.
[0100]The drawings in this disclosure may not be to scale. One of ordinary skill in the art will realize that elements, such as the rotating brush, may be located further back in the device, as shown in FIG. 6C.
[0101]As illustrated in FIG. 6B, the mobility system 104 of the tidying robot 600 may include a right front wheel 136, a left front wheel 138, and a single rear wheel 644, in contrast to the four wheels shown for the robot 100. In one embodiment, the motor 602 of the mobility system 104 may actuate the right front wheel 136 and left front wheel 138 while the single rear wheel 644 provides support and reduced friction with no driving force, as indicated in FIG. 6A. In another embodiment, the tidying robot 600 may have additional motors to provide all-wheel drive, may use a different number of wheels, or may use caterpillar tracks or other mobility devices in lieu of wheels.
[0102]As indicated in FIG. 6B, the cameras 124 of the tidying robot 600 may comprise a front right camera 144, a front left camera 146, a rear left camera 148, and a rear right camera 150, as is shown and described for the robot 100.
[0103]In one embodiment, as shown in FIG. 6B, the scoop arm 112 may be configured with a linear actuator 608. This may allow the scoop arm 112 to extend and retract linearly, moving the scoop 110 away from or toward the chassis 102 of the tidying robot 600, independently from the rotation of the scoop 110 or scoop arm 112.
[0104]FIG. 6C and FIG. 6D illustrate degrees of freedom of motion with which the tidying robot 600 may be configured. Each pusher pad 116 may be able to raise and lower through the action of the motors 612 upon the pusher pad arms 118. Each pusher pad 116 may also be able to rotate horizontally through the action of the motors 610 upon the pusher pads 116, such that the pusher pads 116 may fold inward, as illustrated in FIG. 6D.
[0105]The scoop 110 may be rotated vertically with respect to the scoop arm 112 through the action of its motor 604. As previously described, it may be moved away from or toward the chassis 102 through the action of a linear actuator 608 configured with the scoop arm 112. The scoop 110 may also be raised and lowered by the rotation of the scoop arm 112, actuated by the motor 606.
[0106]FIG. 6D illustrates how the positions of the components of the tidying robot 600 may be configured such that the pusher pads 116 may be folded against the chassis 102 through the action of motor 610 so the tidying robot 600 may approach an object collection bin 642, and the scoop 110 may be raised by motor 606, extended by linear actuator 608, and tilted by motor 604 so that tidyable objects 640 carried in the scoop 110 may be deposited in an object collection bin 642 in a front dump operation.
[0107]FIG. 7A and FIG. 7B illustrate a base station 700 in accordance with one embodiment. FIG. 7A shows a left side view and FIG. 7B shows a top view. The base station 700 may comprise an object collection bin 642, a base station charge connector 702, a power source connection 704, and a vacuum emptying system 706 including a vacuum emptying system intake port 708, a vacuum emptying system filter bag 710, a vacuum emptying system fan 712, a vacuum emptying system motor 714, and a vacuum emptying system exhaust port 716.
[0108]The object collection bin 642 may be configured on top of the base station 700 so that a tidying robot 600 may deposit objects in the scoop 110 into the object collection bin 642. The base station charge connector 702 may be electrically coupled to the power source connection 704. The power source connection 704 may be a cable connector configured to couple through a cable to an alternating current (AC) or direct current (DC) source, a battery, or a wireless charging port, as will be readily apprehended by one of ordinary skill in the art. In one embodiment, the power source connection 704 is a cable and male connector configured to couple with 120V AC power, such as may be provided by a conventional U. S. home power outlet.
[0109]The vacuum emptying system 706 may include a vacuum emptying system intake port 708 allowing vacuum emptying airflow 718 into the vacuum emptying system 706. The vacuum emptying system intake port 708 may be configured with a flap or other component to protect the interior of the vacuum emptying system 706 when a tidying robot 600 is not docked. A vacuum emptying system filter bag 710 may be disposed between the vacuum emptying system intake port 708 and a vacuum emptying system fan 712 to catch dust and dirt carried by the vacuum emptying airflow 718 into the vacuum emptying system 706. The vacuum emptying system fan 712 may be powered by a vacuum emptying system motor 714. The vacuum emptying system fan 712 may pull the vacuum emptying airflow 718 from the vacuum emptying system intake port 708 to the vacuum emptying system exhaust port 716, which may be configured to allow the vacuum emptying airflow 718 to exit the vacuum emptying system intake port 708. The vacuum emptying system exhaust port 716 may be covered with a grid to protect the interior of the vacuum emptying system 706.
[0110]FIG. 8 illustrates a tidying robot interaction with a base station 800 in accordance with one embodiment. The tidying robot 600 may back up to and dock with the base station 700 as shown. In a docked state, the robot charge connector 634 may electrically couple with the base station charge connector 702 such that electrical power from the power source connection 704 may be carried to the battery 636 and the battery 636 may be recharged toward its maximum capacity for future use.
[0111]When the tidying robot 600 is docked at a base station 700 having an object collection bin 642, the scoop 110 may be raised and rotated up and over the tidying robot 600 chassis 102, allowing tidyable objects 640 in the scoop 110 to drop into the object collection bin 642 in a rear dump operation.
[0112]When the tidying robot 600 docks at its base station 700, the dirt release latch 624 may lower, allowing the vacuum compartment 616 to interface with the vacuum emptying system 706. Where the vacuum emptying system intake port 708 is covered by a protective element, the dirt release latch 624 may interface with that element to open the vacuum emptying system intake port 708 when the tidying robot 600 is docked. The vacuum compartment fan 628 may remain inactive or may reverse direction, permitting or compelling vacuum emptying airflow 802 through the vacuum compartment exhaust port 632, into the vacuum compartment 616, across the dirt collector 622, over the dirt release latch 624, into the vacuum emptying system intake port 708, through the vacuum emptying system filter bag 710, and out the vacuum emptying system exhaust port 716, in conjunction with the operation of the vacuum emptying system fan 712. The action of the vacuum emptying system fan 712 may also pull vacuum emptying airflow 804 in from the vacuum compartment intake port 618, across the dirt collector 622, over the dirt release latch 624, into the vacuum emptying system intake port 708, through the vacuum emptying system filter bag 710, and out the vacuum emptying system exhaust port 716. In combination, vacuum emptying airflow 802 and vacuum emptying airflow 804 may pull dirt and dust from the dirt collector 622 into the vacuum emptying system filter bag 710, emptying the dirt collector 622 for future vacuuming tasks. The vacuum emptying system filter bag 710 may be manually discarded and replaced on a regular basis.
[0113]FIG. 9 illustrates a tidying robot 900 in accordance with one embodiment. The tidying robot 900 may be configured as described previously with respect to the robot 100 of FIG. 1A—FIG. 5 and the tidying robot 600 of FIG. 6A-FIG. 6D and FIG. 8. In addition, the tidying robot 900 may also include hooks 906 attached to its pusher pads pusher pad 116 and a mop pad 908.
[0114]In one embodiment, the pusher pads pusher pad 116 may be attached to the back of the scoop 110 as shown, instead of being attached to the chassis 102 of the tidying robot 900. There may be a hook on each of the pusher pads pusher pad 116 such that, when correctly positioned, the hook 906 may interface with a handle in order to open or close a drawer. Alternatively, there may be an actuated gripper on the back of the pusher arms that may similarly be used to grasp a handle to open or close drawers. When the pusher pads pusher pad 116 are being used to push or sweep objects into the scoop 110, the pusher pad inner surfaces 902 may be oriented inward, as indicated by pusher pad inner surface 902 (patterned) and pusher pad outer surface 904 (solid) as illustrated in FIG. 9, keeping the hooks 906 from impacting surrounding objects. When the hooks 906 are needed, the pusher pads pusher pad 116 may fold out and back against the scoop such that the solid pusher pad outer surfaces 904 face inward, the patterned pusher pad inner surfaces 902 face outward, and the hooks are oriented forward for use.
[0115]In one embodiment, the tidying robot 900 may include a mop pad 908 that may be used to mop a hard floor such as tile, vinyl, or wood during the operation of the tidying robot 900. The mop pad 908 may be a fabric mop pad that may be used to mop the floor after vacuuming. The mop pad 908 may be removably attached to the bottom of the tidying robot 900 chassis 102 and may need to be occasionally removed and washed or replaced when dirty.
[0116]In one embodiment, the mop pad 908 may be attached to an actuator to raise and lower it onto and off of the floor. In this way, the tidying robot 900 may keep the mop pad 908 raised during operations such as tidying objects on carpet, but may lower the mop pad 908 when mopping a hard floor. In one embodiment, the mop pad 908 may be used to dry mop the floor. In one embodiment, the tidying robot 900 may be able to detect and distinguish liquid spills or sprayed cleaning solution and may use the mop pad 908 to absorb spilled or sprayed liquid. In one embodiment, a fluid reservoir may be configured within the tidying robot 900 chassis 102, and may be opened or otherwise manipulated to wet the mop pad 908 with water or water mixed with cleaning fluid during a mopping task. In another embodiment, such a fluid reservoir may couple to spray nozzles at the front of the chassis 102, which may wet the floor in front of the mop pad 908, the mop pad 908 then wiping the floor and absorbing the fluid.
[0117]FIG. 10A and FIG. 10B illustrate how the positions of the components of the tidying robot 600 may be configured in a tidying robot in a pre-vacuum sweep position 1000, such that the scoop 110 may be moved into a raised scoop position 212 and the pusher pads116 may be folded inward in an inverted wedge position 1002. In this position, the pusher pads 116 may capture items of debris, keeping such items away from the vacuuming components of the tidying robot 600.
[0118]FIG. 11 depicts an embodiment of a robotic control system 1100 to implement components and process steps of the systems described herein. Some or all portions of the robotic control system 1100 and its operational logic may be contained within the physical components of a robot and/or within a cloud server in communication with the robot and/or within the physical components of a user's mobile computing device, such as a smartphone, tablet, laptop, personal digital assistant, or other such mobile computing devices. In one embodiment, aspects of the robotic control system 1100 on a cloud server and/or user's mobile computing device may control more than one robot at a time, allowing multiple robots to work in concert within a working space.
[0119]Input devices 1104 (e.g., of a robot or companion device such as a mobile phone or personal computer) comprise transducers that convert physical phenomena into machine internal signals, typically electrical, optical, or magnetic signals. Signals may also be wireless in the form of electromagnetic radiation in the radio frequency (RF) range but also potentially in the infrared or optical range. Examples of input devices 1104 are contact sensors which respond to touch or physical pressure fr