Magnetic receptive sensor and optimized drawing and erasing for vertically driving robot

{
  "publication_number": "US11529740B2",
  "country": "US",
  "kind": "B2",
  "title": "Magnetic receptive sensor and optimized drawing and erasing for vertically driving robot",
  "abstract": "A vertically driving marking robot includes a robot body; at least one magnet constraining the robot to move parallel to a vertical, magnetically responsive surface; a drive configured to displace the robot relative to the surface while the robot is held to the surface; a holder configured to hold a marker; an accelerometer measuring a gravity vector; a computing device in communication with the optical sensors, the accelerometer, and the drive. The computing device includes a processor and computer-readable memory, wherein the computer-readable memory includes non-transitory program code for at least one of the following actions: (a) generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector and (b) commanding the drive to displace the robot along a desired trajectory in response to the drift correction.",
  "claims": [
    "1. A vertically driving marking robot, comprising; a robot body; at least one magnet in or coupled with the robot body constraining the robot to move parallel to a vertically oriented, magnetically responsive surface; a drive configured to displace the robot relative to the vertically oriented, magnetically responsive surface while the robot is held to the vertically oriented, magnetically responsive surface; a holder configured to hold a marker in or on the robot body; an accelerometer configured to measure a gravity vector having a magnitude and a direction; an array of optical sensors extending across the width of the robot and configured to detect reference markings on the vertically oriented, magnetically responsive surface as the robot is displaced across the vertically oriented, magnetically responsive surface; a computing device in communication with the optical sensors, the accelerometer, and the drive, wherein the computing device includes a processor and computer-readable memory in communication with the processor; and an actuated linkage configured to move the holder between a marking position in which the marker draws upon the vertically oriented, magnetically responsive surface and a non-marking position in which the marker is not in contact with the vertically oriented, magnetically responsive surface, wherein the computer-readable memory further includes non-transitory program code for causing the actuated linkage to place the holder in a marking position to draw the reference markings along at least a part of the desired trajectory, for generating a drift correction to compensate for drive slippage in response to the detections of the reference markings at different locations across the width of the robot from the optical sensors and in response to and as a function of the gravity vector, and for commanding the drive to displace the robot along a desired trajectory in response to the drift correction.",
    "2. The vertically driving marking robot according to claim 1, further comprising a magnetic force sensor configured to measure a magnetic field generated by at least one of the magnets of the robot and the vertically oriented, magnetically responsive surface, wherein the computer-readable memory further includes non-transitory program code for generating the drift correction in response to and as a function of measurements from the magnetic force sensor.",
    "3. The vertically driving marking robot according to claim 1, further comprising an angular rate sensor configured to measure angular rotation of the robot, wherein the computer-readable memory further includes non-transitory program code for generating the drift correction in response to and as a function of the angular rotation and the gravity vector.",
    "4. The vertically driving marking robot according to claim 1, wherein the computer-readable memory further includes non-transitory program code for generating the drift correction in response to detections of pre-existing indicia on the vertically oriented, magnetically responsive surface from the optical sensors.",
    "5. The vertically driving marking robot according to claim 1, further comprising a camera sensor configured to detect at least one landmark within a room environment external to the robot, wherein the computer-readable memory further includes non-transitory program code for generating the drift correction in response to detections of the at least one landmark.",
    "6. The vertically driving marking robot according to claim 1, wherein the computer-readable memory further includes non-transitory program code for adjusting the generated drift correction at the same time as the robot is displaced along the desired trajectory.",
    "7. The vertically driving marking robot according to claim 1, wherein the drive comprises at least two revolving members in contact with the vertically oriented, magnetically responsive surface, driven by at least two motors in at least two degrees of freedom.",
    "8. A method for driving a robot, comprising: magnetically constraining a robot to move parallel to a vertically oriented, magnetically responsive surface; measuring a gravity vector, having a magnitude and a direction, acting upon the mobile robot; generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector; commanding a drive to displace the robot along a desired trajectory in response to the drift correction; marking the vertically oriented, magnetically responsive surface with a marker transported by the robot; lifting the marker between a marking position in which the marker draws upon the vertically oriented, magnetically responsive surface and a non-marking position in which the marker is not in contact with the vertically oriented, magnetically responsive surface; recording markings made by the marker in the marking position as markings made by the robot; and recording markings not by the marker in the marking position as markings made by other than the robot.",
    "9. A method for driving a robot, comprising: magnetically constraining a robot to move parallel to a vertically oriented, magnetically responsive surface; measuring a gravity vector, having a magnitude and a direction, acting upon the mobile robot; generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector; commanding a drive to displace the robot along a desired trajectory in response to the drift correction; marking the vertically oriented, magnetically responsive surface with a marker transported by the robot; detecting markings at different locations across the width of the robot on the vertically oriented, magnetically responsive surface; lifting the marker between a marking position in which the marker draws upon the vertically oriented, magnetically responsive surface and a non-marking position in which the marker is not in contact with the vertically oriented, magnetically responsive surface; lifting an eraser between an erasing position in which the eraser erases markings on the vertically oriented, magnetically responsive surface and a non-erasing position in which the eraser is not in contact with the vertically oriented, magnetically responsive surface; and recording marked areas and erased areas of the vertically oriented, magnetically responsive surface in response to and as a function of the detection of the markings, the lifting of the marker, the lifting of the eraser, and the displacement of the robot along the desired trajectory.",
    "10. A method for driving a robot, comprising: magnetically constraining a robot to move parallel to a vertically oriented, magnetically responsive surface; measuring a gravity vector, having a magnitude and a direction, acting upon the mobile robot; generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector; commanding a drive to displace the robot along a desired trajectory in response to the drift correction; marking the vertically oriented, magnetically responsive surface with a marker transported by the robot; detecting markings at different locations across the width of the robot on the vertically oriented, magnetically responsive surface; lifting the marker between a marking position in which the marker draws upon the vertically oriented, magnetically responsive surface and a non-marking position in which the marker is not in contact with the vertically oriented, magnetically responsive surface; lifting an eraser between an erasing position in which the eraser erases markings on the vertically oriented, magnetically responsive surface and a non-erasing position in which the eraser is not in contact with the vertically oriented, magnetically responsive surface; and generating the drift correction in response to and as a function of the detection of the markings compared to the lifting of the marker, the lifting of the eraser, and the displacement of the robot along the desired trajectory.",
    "11. A method for driving a robot, comprising: magnetically constraining a robot to move parallel to a vertically oriented, magnetically responsive surface; measuring a gravity vector, having a magnitude and a direction, acting upon the mobile robot; generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector; commanding a drive to displace the robot along a desired trajectory in response to the drift correction; marking the vertically oriented, magnetically responsive surface with a marker transported by the robot; commanding the drive to displace the robot along a calibration trajectory without drift correction; placing the marker in the marking position to draw calibration markings along at least a part of the calibration trajectory; detecting the calibration markings at different locations across the width of the robot on the vertically oriented, magnetically responsive surface; and generating the drift correction to compensate for drive slippage drift in response to and as a function of the detections of the gravity vector and the calibration markings.",
    "12. The method of claim 11, further comprising: detecting a magnitude of a magnetic force between the robot and the vertically oriented, magnetically responsive surface; and generating the drift correction in response to and as a function of the detections of the magnetic force and the gravity vector.",
    "13. The method of claim 11, further comprising: detecting angular rotation of the robot; and generating the drift correction in response to and as a function of the detections of the angular rotation and the gravity vector.",
    "14. The method of claim 11, further comprising: detecting a landmark within a room environment external to the robot rotation; and generating the drift correction in response to and as a function of the detections of the angular rotation and the landmark.",
    "15. The method of claim 11, further comprising: detecting projected light within a room environment external to the robot rotation; and generating the drift correction in response to and as a function of the detections of the angular rotation and the projected light.",
    "16. The method of claim 11, further comprising: adjusting the generated drift correction at the same time as the robot is displaced along the desired trajectory.",
    "17. The method of claim 11, further comprising: detecting markings at different locations across the width of the robot on the vertically oriented, magnetically responsive surface; and generating the drift correction in response to and as a function of the detections of the markings and the gravity vector.",
    "18. The method of claim 17, further comprising: lifting the marker between a marking position in which the marker draws upon the vertically oriented, magnetically responsive surface and a non-marking position in which the marker is not in contact with the vertically oriented, magnetically responsive surface; and placing the marker in the marking position to draw markings along at least a part of the desired trajectory."
  ],
  "description_excerpt": "The United States has a problem with education in science, technology, engineering, and mathematics, commonly known as “STEM” fields. Jobs in these domains are a primary driver of the modern economy, and an increasing number of jobs in other fields require knowledge of STEM. However, many students are not successfully learning core concepts. According to recent reports:\n\nFurthermore, there are not enough students studying STEM disciplines to meet the country's needs. Moreover, according to recent reports:\n\nIn order to combat this trend and inspire more students to pursue STEM studies, the President's Council of Advisors on Science and Technology has recommended that we “create STEM-related experiences that excite and interest students of all backgrounds”. We propose creating engaging learning experiences through the use of a specially designed robot. Robots have been found to be an exciting and motivating tool for students; as such, we believe they can also be powerful educational tools. They can help teach problem solving, logic, programming, computational thinking, and much more. By lowering the hurdle of prerequisite technical knowledge, we believe that robots designed for the classroom can lead to unique and stimulating learning experiences for students of all ages.\n\nMagnetic, color or grayscale (e.g., more than two shades of darkness without relying on color per se) sensing, mobile, marking robots and methods for interactive marking by a mobile robot are described herein. Various embodiments of the apparatus and methods may include some or all of the elements, features and steps, described below.",
  "cpc": [
    "B25J 9/1697",
    "B25J 9/162",
    "B43L 13/022",
    "B43L 19/0006",
    "G05D 1/0011",
    "G05D 1/027",
    "Y10S 901/01"
  ],
  "ipc": [
    "B25J 9/16",
    "B43L 13/02",
    "B43L 19/00",
    "G05D 1/00",
    "G05D 1/02"
  ],
  "assignees": [
    "Harvard University"
  ],
  "inventors": [
    "Zivthan A. Dubrovsky",
    "Raphael Gerard Cherney",
    "Hani M. Sallum",
    "Julian U. da Silva Gillig"
  ],
  "filing_date": "2017-04-17",
  "publication_date": "2022-12-20",
  "grant_date": "2022-12-20",
  "priority_date": "2014-04-02",
  "application_number": "US-201716094251-A",
  "family_id": "58053830",
  "cited_by_count": 0,
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}