US 12,030,182 B2
Controlling an autonomous working device based on physical interaction
Mathias Franzius, Offenbach (DE); and Nils Einecke, Offenbach (DE)
Assigned to Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed by Honda Research Institute Europe GmbH, Offenbach/Main (DE)
Filed on Dec. 14, 2020, as Appl. No. 17/120,283.
Prior Publication US 2022/0184801 A1, Jun. 16, 2022
Int. Cl. B25J 9/16 (2006.01); A01D 34/00 (2006.01); A47L 9/28 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); A01D 101/00 (2006.01)
CPC B25J 9/163 (2013.01) [A01D 34/008 (2013.01); A47L 9/2805 (2013.01); A47L 9/2847 (2013.01); B25J 9/1664 (2013.01); B25J 9/1694 (2013.01); B25J 11/0085 (2013.01); B25J 13/087 (2013.01); B25J 13/088 (2013.01); A01D 2101/00 (2013.01); A47L 2201/04 (2013.01)] 16 Claims
OG exemplary drawing
 
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.