Controlling an autonomous working device based on physical interaction

Patent metadata

Field	Value
Publication number	US-12030182-B2
Application number	US-202017120283-A
Country	US
Kind code	B2
Filing date	Dec 14, 2020
Priority date	Dec 14, 2020
Publication date	Jul 9, 2024
Grant date	Jul 9, 2024

Abstract

An autonomous working device comprises at least one sensor configured to generate a sensor signal based on a physical interaction of the autonomous working device with a physical entity, at least one actuator configured to perform a working task, and a controller configured to generate a control signal for controlling the actuator. The controller is configured to evaluate the sensor signal, to determine a pattern of a physical interaction of the autonomous working device with a person and to generate the control signal based on the determined pattern of a physical interaction.

First claim

What is claimed is:

1. An autonomous working device, comprising:
at least one sensor configured to generate a sensor signal based on a physical interaction of the autonomous working device with a physical entity,
wherein the at least one sensor is configured to acquire the sensor signal measuring an acceleration in at least one direction;

at least one actuator configured to perform a working task; and
a controller configured to generate a control signal for controlling the actuator, to evaluate the sensor signal, to determine a pattern of a physical interaction of the autonomous working device with a person based on the evaluated sensor signal and to generate the control signal based on the determined pattern of the physical interaction,
wherein the at least one physical interaction includes at least one of a push of the autonomous working device into one direction, and a touching gesture into at least one direction on the housing of the autonomous working device, and
wherein the controller is configured to distinguish, based on the determined pattern of the physical interaction, between a collision event involving the autonomous working device and an object other than the person on the one hand and the push of the autonomous working device and the touching gesture on the other hand, and in response to the push or the touch gesture being determined, to compute a direction of the push or the touch gesture based on the acquired sensor signal,
wherein the controller is configured to distinguish between, in the acquired sensor signal, a short peak in a sensor signal curve of the acquired sensor signal as the collision event, and a flat profile in the sensor signal curve of the acquired sensor signal as the push or the touching gesture,
wherein the generated control signal includes data on at least one working parameter including at least data on a navigation trajectory of the autonomous working device in the working area based on the interpreted physical interaction, and
wherein the data on the navigation trajectory includes information on at least one of amending the navigation trajectory, directing the autonomous working device to a particular location, and indicating a new navigation trajectory.

2. The autonomous working device according to claim 1 , wherein
the at least one sensor is configured to generate the sensor signal while the autonomous working device is operating in a mode different from a programming mode or learning mode.

3. The autonomous working device according to claim 1 , wherein
the at least one sensor further includes an inertial measurement unit IMU, or
the at least one sensor further includes an acoustic sensor configured to detect a knocking gesture, or
the at least one sensor further includes a member arranged externally accessible on the autonomous working device.

4. The autonomous working device according claim 1 , wherein the at least one physical interaction further includes at least one of the followings:
a touching gesture on the housing of the autonomous working device into one direction,
a knocking pattern on the housing of the autonomous working device,
a lifting of the autonomous working device, and
a shaking of the autonomous working device.

5. The autonomous working device according to claim 1 , wherein the controller is configured to generate the control signal including the data on at least one working parameter based on the interpreted physical interaction, wherein the at least one working parameter further includes at least one of the followings:
data defining a working area, in which the autonomous working device performs the working task, and
data on an operation mode of the autonomous working device.

6. The autonomous working device according to claim 5 , wherein
the data defining the working area includes information on at least one of amending the working area, indicating a new working area, and defining an inhibited area in the working area.

7. The autonomous working device according to claim 5 , wherein
the data on the operation mode includes information on at least one of a working mode, a pausing mode, a standby mode, a specific predefined working task, a specific predefined behavior, a surveillance mode, a tracing mode for the autonomous working device following a user, a storing mode for storing location data into a memory, the storing mode for storing situation data into the memory, an unlocking process, a programming mode and a training mode.

8. The autonomous working device according to claim 5 , wherein
the controller is configured to select or amend the data on the at least one working parameter based on the evaluated sensor signal.

9. The autonomous working device according to claim 5 , wherein
the controller is configured to select or amend at least one working parameter based on an evaluated further sensor signal obtained via a second sensor, in case the controller determines based on the evaluated sensor signal generated by a first sensor that a physical interaction of the autonomous working device with a person occurred.

10. The autonomous working device according to claim 1 , wherein
the autonomous working device comprises an output interface, and
the controller is configured to generate and to output via the output interface a feedback signal to the person, wherein the feedback signal communicates the evaluated sensor signal generated based on the physical interaction.

11. The autonomous working device according to claim 1 , wherein
the actuator comprises at least one of the followings:
at least one working tool, and
a running gear of the autonomous working device.

12. The autonomous working device according to claim 11 , wherein
the at least one working tool is at least one of a cleaning tool, a vacuum cleaning tool, an ironing tool, a mowing tool, and a maintenance tool.

13. The autonomous working device according to claim 1 , wherein
the controller is configured to determine a first pattern of a physical interaction based on the evaluated sensor signal generated based on a first physical interaction as a reward, and to determine a second pattern of a physical interaction based one the evaluated sensor signal generated based on a second physical interaction as a punishment, and
the controller is configured to adapt a future behavior of the autonomous working device based on the determined first pattern and second pattern, in particular by using a training algorithm.

14. A method for controlling an autonomous working device, the autonomous working device comprising at least one sensor, at least one actuator for performing a working task, and a controller, the method comprising:
generating, by the at least one sensor, a sensor signal based on a physical interaction of the autonomous working device with a physical entity,
wherein the at least one sensor acquires the sensor signal measuring an acceleration in at least one direction;

evaluating, by the controller, the sensor signal;
generating, by the controller, a control signal based on the evaluated sensor signal;
performing, by the actuator, the working task based on the generated control signal;
determining, by the controller, whether a pattern of a physical interaction of the autonomous working device with a person based on the evaluated sensor signal occurred,
wherein the physical interaction includes at least one of a push of the autonomous working device into one direction, and a touching gesture into at least one direction on the housing of the autonomous working device;

distinguishing, by the controller, based on the determined pattern of the physical inte

Assignees

• Honda Res Inst Europe Gmbh

Inventors

• Franzius Mathias
• Einecke Nils

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J13/087

  for sensing other physical parameters, e.g. electrical or chemical properties · CPC title

• B25J11/0085

  Cleaning · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title