GB2475345A

GB2475345A - Semi-autonomous operation of devices.

Info

Publication number: GB2475345A
Application number: GB0920219A
Authority: GB
Inventors: Jonathan Brown
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-11-13
Filing date: 2009-11-19
Publication date: 2011-05-18
Also published as: GB0920219D0

Abstract

Semi-autonomous operation of a system of devices, for example, robots is achieved through the use of a control unit 10 connected to each device (11, fig 2). Each control unit 10 has a processor 12 for processing device operational and environment data, means 13, for example a transceiver, for receiving and transmitting signals, memory 14 for storing the data, and an interface 16 for interfacing the transfer of device operational data between the control unit 10 and the device (11, fig 2). The data is modified in response to the received signals, which may be from the other devices (11, fig 2).

Description

A METHOD OF ENABLING SEMI-AUTONOMOUS OPERATION OF A PLURALITY

OF DEVICES

The present invention relates to a method of enabling semi-autonomous operation of a plurality of devices. The present invention further relates to a system of semi-autonomous devices and a control unit for enabling semi-autonomous control of a plurality of devices.

Currently available autonomous robots are devices encumbered with various sensors and monitoring hardware which enable the devices to explore their environment.

However, the sensors and monitoring hardware are known to increase the size and weight of the device, which subsequently increase the power demands of the robots.

Moreover, the sensors comprise a limited sensory range and are susceptible to interference.

We have now devised a method and system which completely removes the need for robots to carry sensors or monitoring hardware, while simultaneously vastly improving their ability to explore their environment.

In accordance with the present invention, as seen from a first aspect there is provided a method of enabling semi-autonomous operation of a plurality of devices, the method comprising: -coupling a control unit to a plurality of devices, each control unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device; and, -selectively modifying the device operational and environment data in response to the signals received at the means for receiving signals.

The ability to selectively modify operational and environment data of each device in response to signals received at the device, removes the need for a device to have sensors, such as cameras, movement sensors and contact sensors, for sensing their environment and as such represents a significant departure from the prevailing so-called artificial intelligent devices. The method of the present invention, thus enables each device to benefit from the extensive spatial knowledge that is maintained by the community of devices.

The method preferably comprises transmitting signals to units of other devices and receiving signals transmitted from units of other devices. The transmission and reception of signals permits a sharing of information between the devices so that separate devices can establish and share a map of their environment, for example.

The method preferably further comprises determining distances between devices from the transmitted and received signals.

The signals received and transmitted by the means for receiving and transmitting preferably comprise environment data. The signals may further comprise data requested by other devices.

The method enables a community of such devices to act cooperatively, and quickly identify each other, establish approximate relative spatial positioning, refine this spatial model and scope their environment, while dynamically updating and refining both environment and operational data. New devices which become added to the community immediately take advantage of the environment data already developed and the data itself is resilient such that in the event that one or more of the devices becomes damaged or removed from the environment, there is no loss of all the data.

Preferably, the operational data of each device comprises control functionality for the device. The control functionality may be device specific and comprises at least one of device movement control, device orienting control, device trajectory control and signal transmission and reception control.

Preferably, the environment data of each device comprises device specific environment data and global environment data. The device specific environment data preferably comprises information relating to the surroundings of a particular device, such as the distance between said device and other devices and/or environment obstacles. The device specific environment data preferably further comprises data relating to the position and/or trajectory, or intended path, of the device.

The global environment data preferably comprises device specific environment data relating to other devices of the plurality of devices. This enables the devices to establish a map of the global environment occupied by all the devices. The global environment data preferably further comprises identification data which identifies a particular device with the corresponding device specific environment data.

The device specific environment data of a device is preferably obtained by monitoring distances between devices. The distances between devices are preferably determined by monitoring a reduction in signal strength of the signal that is received at said means for receiving. Alternatively, or in addition thereto, at least one of the plurality of devices is arranged to transmit a probe signal and monitor the time between transmitting the probe signal and receiving a reflected probe signal in determining the device specific environment data.

Preferably, at least one device of the plurality of devices is arranged to determine device specific environment data at a first position, then move to a second position and determine the device specific environment data at the second position to verify the device specific environment data determined at the first position.

Preferably, the method further comprises transmitting and receiving signals over a wireless communications link.

The method preferably comprises periodically transmitting signals as a broadcast to enable each of the plurality of devices to regularly update their associated environment data.

Preferably, the method further comprises receiving user defined data as input into the memory means. The user defined data may comprise a set of initial environment conditions, for example, and/or initial operational characteristics.

Preferably, the method further comprises monitoring a power level of a power supply to the device and causing the power supply of the device to become recharged when the power level reaches a threshold level.

In accordance with the present invention as seen from a second aspect, there is provided a system of semi-autonomous devices, each device of the system comprising a control unit, each control unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device; the devices of the system being configured to transmit and receive signals and to selectively modify the device operational and environment data in response to the signals received at the means for receiving signals from other devices.

The system thus enables devices of the system to acquire knowledge of their environment and to adapt to their environment without first knowing any details of the environment.

Preferably, the operational data of each device comprises control functionality for the device. The control functionality may be device specific and comprises at least one of device movement control, device orienting control, device trajectory control and environment signal transmission and reception control.

Preferably, the environment data of each device comprises device specific environment data and global environment data. The device specific environment data preferably comprises information relating to the specific device surroundings, such as the distance between said device and other devices and/or environment obstacles. The device specific environment data preferably further comprises data relating to the position and/or trajectory, or intended path, of the device.

The global environment data preferably comprises device specific environment data relating to other devices within the system. This enables the devices to establish a map of the global environment occupied by all the devices. The global environment data preferably comprises identification data which identifies a particular device with the corresponding device specific environment data.

The means for receiving and transmitting environment data comprises a transceiver.

Preferably, the transceiver is arranged to receive and transmit signals over a wireless communications link.

Preferably, at least one device of the system comprises movement means which permit the device to move. The unit of the at least one device preferably further comprises timing means for determining the time spent moving. The unit preferably further comprises an accelerometer for determining the speed of a device and/or a gyroscope to determine the attitude of a device and whether the device is falling or being carried, for

example.

The unit preferably further comprises means for determining the distance between devices. The means for determining distance preferably comprises means for determining an intensity of a signal and/or means for determining the time delay between transmitting and receiving a signal.

Preferably, the unit of at least one device further comprises a means for determining direction, such as a digital compass or global positioning system.

Preferably, the unit of at least one device of the system further comprises voice recognition means.

In accordance with the present invention as seen from a third aspect, there is provided a control unit for enabling semi-autonomous control of a plurality of devices, the unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device.

The control unit of each device is arranged to communicate environment data to other devices and to acquire device environment data from other devices, and to update device operational and environment data to enable the device to operate, for example move, without the requirement for separate local device sensors. It is envisaged that the control unit may be retro-fitted into the hardware architecture of existing devices or incorporated into new devices at the manufacturing stage to increase the operational capability of the device.

Preferred features of the control unit of the third aspect of the present invention may comprise one or more of the preferred features of the invention of the first and/or second aspect.

Embodiments of the present invention will now be described by way of example only and with reference to the accompanying drawings, in which: Figure 1 is a schematic illustration of a control unit; Figure 2 is a schematic illustration of an environment of devices; Figure 3 is a schematic illustration of a system of four devices with a local obstacle; and, Figure 4 is a schematic illustration of two devices, one of which is permitted to move.

Referring to the figures 1 and 2 of the drawings, there is illustrated a control unit 10 which is arranged to be incorporated into a plurality of host devices 11 to render the system of devices 11 semi-autonomous in their operation. It is envisaged however, that the devices 11 may separately comprise more than just one unit 10. The hardware of the unit 10 comprises a processor 12 and a wireless transceiver 13 mounted upon an integrated dual-in-line package (not shown), for example, for insertion within the host device 11. The firmware, namely the programs and data which control the device 11, are held within a read-only memory (ROM) section 14 of a memory device, also mounted within the package (not shown), and comprises an operating system which provides a runtime environment for user-defined application software. During use, device operational data is held within a random access memory (RAM) section 15 of the memory device and is interfaced with the device via an interface unit 16.

The unit 10 of each device 11 permits each device 11 to acquire information about its environment 17 by periodically transmitting signals from the transceiver 13 and monitoring for signals that are received back at the transceiver 13. The signal transmitted comprises a device identifier so that other devices 11 can recognise the signal as belonging to a particular device 11 and may further comprise a request for information or action from other devices 11 or a specific device 11. The signal is transmitted from each device 11 as a periodic broadcast and/or in response to a specific request from a device 11 and/or as a result of operational software controlling the device 11.

Upon receiving a signal at the transceiver, each device 11 of the system is arranged to first determine whether the device 11 is new to the environment 17 by referencing the device identifier with those already stored in memory 14. The processor 12 of each device 11 subsequently monitors the intensity of the signal using a luxmeter (not shown) or photometer (not shown), for example, and determines the distance between devices 11 within the environment using the inverse square law relationship, I=K/r2 where I is the intensity of the signal at a distance r from the transmitting device and K is a known constant. However, this method is sensitive to the measurement of intensity and as such it is difficult to provide an accurate determination of device separation using only this method. Accordingly, the transceiver 13 of each device may be further arranged to transmit a probe signal and monitor the time delay between the transmission of the probe signal and the reception of the probe signal that becomes reflected off other devices 11 and obstacles 18, using a timer (not shown) to determine the separation of devices 11, and the distance between devices 11 and environment obstacles 18, for

example.

The signal transmitted by the transceiver 13 of each device 11 is further arranged to comprise environment data relating to the transmitting device 11 and environment data received from other devices 11 within the system, which relate to the other devices 11.

The environment data comprises information relating to the position, separation and trajectory, or intended path, of devices within the environment 17 so that each device 11 can establish a map of the global environment 17 occupied by the system of devices 11.

The environment data received from other devices 11 is accompanied by the respective device identifier so that each device 11 can relate a particular set of environment data with a particular device ii. This enables each device ii to verify the self determined distance to other devices ii (using the inverse square law relationship or by monitoring the time delay of reception of a probe signal), with the distances calculated by other devices ii of the system. If the self-determined distances do not correspond with the distances provided by further devices ii, then the device ii in question may elect to undertake an exploratory movement and reposition itself to determine the cause of the inconsistency.

For example, referring to figure 3, there is illustrated a system of four devices 11 a, 11 b, lic and lid located at positions A, B, C and D, and the distances between these devices, namely distance AB, AC, BC, CD, BD would have been calculated using the above method and used to reliably position the devices iia-d within the environment space 17. These distances would have been further verified with many other devices (not shown) in the system. However the distance AD as determined by device ha or lid alone would appear to conflict with the distances determined by the system of devices iia-d because of the presence of an obstacle 18 which attenuates the signal transmitted directly between ha and lid. This would cause the devices ha, lid to assume their separation is greater than actual. In light of the inconsistency, device ha and/or lid may elect to reposition themselves and recalculate their separation and thus determine the position of the obstacle.

Such exploratory movements may also be used to refine the distances determined using the sensitive inverse square law relationship. It is envisaged however, that any uncertainty in the self-determined distances and the distance information provided by other devices ii will average over a period of time in which repeated measurements are made and/or recorded from other devices 11. Furthermore, once a particular obstacle 18 has been identified by a device 11, then information relating to its position within the environment 17 can be shared with other devices 11 by transmitting the information via the transceiver 13. The information relating to the obstacle 18 may further comprise calibration data which enables devices 11 to compensate for signals received from devices 11 at various positions, and which become attenuated by the obstacle 18 and signals which suffer interference from the obstacle 18, for example. Such calibration may also be used to accommodate any attenuation associated with the positioning of the unit within a particular device 11 and any interference from external sources of signals, such as radio based equipment, for example.

A system consisting solely of static devices 11 will not permit the devices 11 to fix their position as a coordinate within the environment 17, in relation to each other devices 11; a static system of devices 11 will only permit the separation of devices 11 to be calculated. Therefore, deliberate and coordinated exploratory movement is required to fully develop a map of the global environment 17. However, in view of the ability of each device to share its environment data with other devices 11, only one device 11 of the system is required to move in order for the system of devices 11 to become aware of the global environment 17.

In situations where a device 11 is able to move, a measure of the distance traveled can be determined by monitoring the time spent traveling and the speed of travel. In these circumstances, it is envisaged that the devices 11 may comprise a gyroscope (not shown) or accelerometer (not shown) for determining the speed, and direction of travel, for example. However, if the speed of a device is only approximately known, then the device will be able to calibrate its operational data to compensate for the uncertainty in speed from knowledge of its initial position and its final position and the time spent traveling. The time spent traveling is determined by a clock (not shown) which may be incorporated within the unit 10 of each device 11 of the system or only the units 10 of those devices 11 which are permitted to move. However, it is advantageous to incorporate a clock (not shown) in the unit 10 of each device 11 so that each device 11 of the system is enabled to determine the distance traveled by the moving devices 11 and thus potentially provide a calibration for the measurement of time. Similarly, a unit of a device 11 which comprises a digital compass (not shown) or global positioning system (not shown), for example, will be able to calibrate the compass (not shown) or global positioning system (not shown) to accommodate any uncertainty in the intended direction of travel.

Devices ii that are in control of their own movement, even if this is just a knowledge of whether the movement is forward or backward, can reduce the number of possible position coordinates for the transmitting device ii relative to the moving device ii, namely the receiving device. For example, if the receiving device ii moves forwards and the distance between the transmitting device ii and receiving device is calculated as decreasing, then the receiving device ii could assume that the transmitting device ii is in front of it as opposed to behind it. This knowledge therefore reduces the possible position coordinates for the transmitting device ii from a circle (or sphere in 3D) having a radius corresponding to the calculated separation of devices, to a semi-circle (or hemi-sphere) in front of the receiving device ii. If the receiving device ii was further aware of the distance traveled then it is possible to triangulate the original distance, the distance moved and the new distance to calculate the angle relative to the path traveled.

Referring to figure 4 for example, there is illustrated a system of two devices, namely ha and hf. Device lie is arranged to move a distance DE from point Al to point A2.

Device I if is arranged to be stationary for this time and is initially positioned a distance Di from lie, and D2 from A2. Device lie is able to calculate the angle a of hf in relation to the path it traveled. However, lie is unable to calculate whether hf is at this angle to the left, namely at A2 or right, for example at point A3, as illustrated in figure 3 unless it turns and moves again to see if the distance between lie and hf increases or decreases.

Ideally, when triangulating a position, there will be a number of devices Ii which will have remained stationary during the movement of one or more devices hi. Typically a minimum of three devices ii are required when working in two dimensions and four devices hi if a third dimension is required. Stationary devices hi act as anchors in the triangulation and allow the change of moving devices hi to be tracked more accurately.

If a device hi detects the distance to other devices is changing, but neither device is effecting the motion, it may be that the device hi is either falling or being carried. In either case trajectory information, or information relating to the intended path, becomes unreliable and position can only be tracked against devices 11 that appear to be staying in the right formation. In these circumstances it is envisaged that the device 11 may enter a passive state in which it does transmits signals so that it can monitor its position as determined by other devices, but does not actively determine its own position.

The signal transmitted by the devices 11 is periodically broadcast to enable the devices 11 to record, monitor and update the separation of devices 11 in the global environment.

This broadcast empowers each device with pseudo-real time information about the global environment 17 which would otherwise be very difficult for a single device to acquire. User worn devices such as wristbands (not shown), earpieces (not shown) and head-up displays (not shown) may comprise no facility for self movement. However, such devices can still have their position tracked within the environment calculated by other devices of the system, thereby enabling tracking of human users, for example.

Once a system is established and all units 10, namely the devices 11, know where they are in relation to each other, it is a relatively simple task to maintain and update the details of the environment 17. However, getting to an established system of devices 11 requires starting from a state where nothing is known. This would be the case if all devices 11 were turned on simultaneously for the first time in a new environment 17.

However, the method according to an embodiment of the present invention permits a system of devices 11 to reach this mature state, using the above mentioned triangulation methods and exploratory movements.

According to an embodiment of the present invention it is envisaged that the control unit may be incorporated within a universal serial bus or USB stick (not shown) or otherwise arranged to be coupled with a USB port on a personal computer (not shown).

The unit coupled to the port may then be arranged to (a) download application software from the computer (not shown) to any unit 10 within wireless range; (b) download kernel and interpreter software from the computer (not shown) to any unit 10 within wireless range; (c) enable the computer (not shown) to monitor and track all units 10 in wireless range; (d) enable the computer (not shown) to execute program code on behalf of a unit within wireless range; (e) act as a portal for units 10 to interact with other units 10 over the internet; and (f) enable operational and environment data to be stored on the computer (not shown).

According to a further embodiment of the present invention it is envisaged that a unit 10 may be incorporated into a toy puppy device (not shown) which is capable of moving via an internal robotic architecture (not shown) for example, a puppy basket (not shown) and a user worn wrist band (not shown), for example. The units 10 within the puppy and basket would enable the puppy and basket to acquire share and modify their operational and environment data in learning about their environment. It is envisaged however, that a system comprising two or more puppy devices (not shown) would enable a faster acquisition of environment data.

In this case, the unit 10 within the (or each) puppy would empower the puppy (not shown) to seek out the user (not shown), for example its child owner and respond to the movements of the wrist band as the child moves his/her arm, for example. The unit 10 within the puppy (not shown) and/or wrist band (not shown) may further comprise a voice recognition device (not shown) thereby enabling the child (not shown) to interact with the puppy (not shown) using voice commands. It is found however that incorporating the voice recognition device (not shown) within the unit 10 of the wristband (not shown) has advantages over its incorporation within unit 10 of the puppy (not shown). In particular, the incorporation of the voice recognition device (not shown) in the unit 10 of the wristband is found to improve the capture of the child's voice and reduces the complexity and weight of the puppy for movement. The incorporation of the voice recognition device in the unit 10 of the wristband further reduces the processing load on the unit 10 within the puppy (not shown) and can serve to process commands on behalf of several puppy devices (not shown).

It is also envisaged that the basket (not shown) may comprise a recharging station (not shown) to recharge a power supply (not shown) for the toy puppy (not shown). The unit on the puppy (not shown) would be arranged to monitor the power level of its associated power supply (not shown) and cause the puppy (not shown) to return to the recharging station (not shown), namely the basket (not shown), when the power level reaches a pre-determined power level. When the puppy (not shown) recognizes its location within the basket (not shown), namely its environment, the environment data acquired by the unit 10 within the puppy (not shown) may then cause the operational data controlling the puppy (not shown) to be modified to prevent the puppy (not shown) from moving from the basket (not shown) until a threshold power level is attained, for example. Alternatively, or in addition thereto, it is envisaged that in a system comprising a first and second puppy (not shown) then in the event that the first puppy (not shown) is prevented from timely returning to the basket (not shown), namely the recharging station (not shown), the second puppy (not shown) will become aware of the operational state of the first puppy (not shown) and using the acquired environment data, seek out the first puppy (not shown) and provide sufficient charge via a connection (not shown) on the first and second puppies (not shown) to enable the first puppy to return to the basket (not shown).

From the foregoing therefore, it is evident that the method, system and control unit of the present invention provides for a semi-autonomous operation of a plurality of devices..

Claims

Claims 1. A method of enabling semi-autonomous operation of a plurality of devices, the method comprising: -coupling a control unit to a plurality of devices, each control unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device; and, -selectively modifying the device operational and environment data in response to the signals received at the means for receiving signals.
2. A method according to claim 1, further comprising transmitting signals to units of other devices and receiving signals transmitted from units of other devices.
3. A method according to claim I or 2, further comprising determining distances between devices from the transmitted and received signals.
4. A method according to any preceding claim, wherein the signals received and transmitted by the means for receiving and transmitting comprise environment data.
5. A method according to any preceding claim, wherein the signals comprise or further comprise data requested by other devices.
6. A method according to any preceding claim wherein the operational data of each device comprises control functionality for the device.
7. A method according to any preceding claim, wherein the environment data of each device comprises device specific environment data and global environment data.
8. A method according to claim 7, wherein the device specific environment data comprises information relating to the specific device surroundings.
9. A method according to claim 7 or 8, wherein the device specific environment data comprises or further comprises data relating to the position and/or trajectory, or intended path, of the device.
10. A method according to any of claims 7 to 9, wherein the global environment data comprises device specific environment data relating to other devices of the plurality of devices.
11. A method according to any of claims 7 to 10, wherein the global environment data comprises or further comprises identification data which identifies a particular device with the corresponding device specific environment data.
12. A method according to any of claims 7 to 11, wherein the device specific environment data of a device is obtained by monitoring distances between devices.
13. A method according to any of claims 7 to 12, wherein the device specific environment data of a device is obtained by monitoring a reduction in signal strength of the signal that is received at said means for receiving.
14. A method according to any preceding claim, wherein at least one of the plurality of devices is arranged to transmit a probe signal and monitor the time between transmitting the probe signal and receiving a reflected probe signal in determining the device specific environment data.
15. A method according to any of claims 7 to 13, wherein at least one device of the plurality of devices is arranged to determine device specific environment data at a first position, then move to a second position and determine the device specific environment data at the second position to verify the device specific environment data determined at the first position.
16. A method according to any preceding claim, further comprising transmitting and receiving signals over a wireless communications link.
17. A method according to any preceding claim, further comprising periodically transmitting signals as a broadcast to enable each of the plurality of devices to regularly update their associated environment data.
18. A method according to any preceding claim, further comprising receiving user defined data as input into the memory means.
19. A method according to any preceding claim further comprising monitoring a power level of a power supply to the device and causing the power supply of the device to become recharged when the power level reaches a threshold level.
20. A system of enabling semi-autonomous operation of devices, each device of the system comprising a control unit, each control unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device; the devices of the system being configured to transmit and receive signals and to selectively modify the device operational and environment data in response to the signals received at the means for receiving signals from other devices.
21. A system according to claim 20, wherein the signals received and transmitted by the means for receiving and transmitting comprise environment data.
22. A system according to claim 20 or 21, wherein the signals comprise or further comprise data requested by other devices.
23. A system according to any of claims 20 to 22, wherein the operational data of each device comprises control functionality for the device.
24. A system according to any of claims 20 to 23, wherein the environment data of each device comprises device specific environment data and global environment data.
25. A system according to claim 24, wherein the device specific environment data comprises information relating to the specific device surroundings.
26. A system according to claim 24 or 25, wherein the device specific environment data comprises or further comprises data relating to the position and/or trajectory, or intended path, of the device.
27. A system according to any of claims 22 to 24, wherein the global environment data comprises device specific environment data relating to other devices within the systems.
28. A system according to any of claims 22 to 25, wherein the global environment data comprises or further comprises identification data which identifies a particular device with the corresponding device specific environment data.
29. A system according to any of claims 20 to 28, wherein the means for receiving and transmitting environment data comprises a transceiver.
30. A system according to any of claims 20 to 29, wherein the transceiver of the unit of each device is arranged to receive and transmit signals over a wireless communications link.
31. A system according to any of claims 20 to 30, wherein at least one device of the system comprises movement means which permit the device to move.
32. A system according to any of claims 20 to 31, wherein the unit of the at least one device further comprises timing means for determining the time spent moving.
33. A system according to any of claims 20 to 32, wherein the unit further comprises an accelerometer and/or a gyroscope.
34. A system according to any of claims 20 to 33, wherein the unit further comprises means for determining the distance between devices.
35. A system according to claim 32, wherein the means for determining distance comprises means for determining an intensity of a signal and/or means for determining the time delay between transmitting and receiving a signal.
36. A system according to any of claims 20 to 35, wherein the unit of at least one device further comprises means for determining direction.
37. A system according to any of claims 20 to 36 wherein the unit of at least one device of the system further comprises voice recognition means.
38. A control unit for enabling semi-autonomous control of a plurality of devices, the unit comprising a processor for processing device operational and environment data, means for receiving and transmitting signals, memory means for storing device operational and environment data, and interface means for interfacing the transfer of device operational data between the unit and the device.