Systems and methods for training a robot to autonomously travel a route

Abstract

Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.

What is claimed is: 
     
         1 . A non-transitory computer-readable storage medium having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus to operate a robot, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to:
 detect a first placement of the robot in an initialization location;   create a map of a navigable route and surrounding environment during a demonstration of the navigable route to the robot beginning from the initialization location;   detect a second placement of the robot in the initialization location; and   cause the robot to autonomously navigate at least a portion of the navigable route from the initialization location.   
     
     
         2 . The non-transitory computer-readable storage medium of  claim 1 , wherein the instructions when executed by the processing apparatus, further cause the processing apparatus to evaluate the created map for errors, and based at least in part on the errors, request to a user to demonstrate the navigable route again to the robot. 
     
     
         3 . The non-transitory computer-readable storage medium of  claim 2 , wherein the errors include at least one of a discontinuity of the navigable route in the map and a discontinuity in the surrounding environment in the map. 
     
     
         4 . The non-transitory computer-readable storage medium of  claim 1 , wherein the instructions when executed by the processing apparatus, further cause the processing apparatus to provide instructions to the robot to avoid temporarily placed obstacles while autonomously navigating the navigable route. 
     
     
         5 . The non-transitory computer-readable storage medium of  claim 1 , further comprising instructions configured to cause the processing apparatus to receive a selection of the navigable route from a user interface. 
     
     
         6 . The non-transitory computer-readable storage medium of  claim 1 , wherein the robot is a floor cleaner. 
     
     
         7 . The non-transitory computer-readable storage medium of  claim 1 , wherein the created map comprises an indication representative at least in part of an action performed by the robot on the navigable route. 
     
     
         8 . The non-transitory computer-readable storage medium of  claim 7 , wherein the action is floor cleaning. 
     
     
         9 . A method of operating a robot, comprising:
 detecting an initial placement of the robot in an initialization location;   causing a creation of a map of a navigable route and surrounding environment during a demonstration of the navigable route to the robot beginning from the initialization location;   detecting a subsequent placement of the robot in the initialization location; and   causing the robot to autonomously navigate at least a portion of the navigable route from the initialization location.   
     
     
         10 . The method of  claim 9 , further comprising evaluating the created map for errors, and based at least in part on the errors, issuing a request to a user to demonstrate the navigable route again to the robot. 
     
     
         11 . The method of  claim 9 , wherein the demonstration comprises receiving control signals from a user. 
     
     
         12 . The method of  claim 9 , wherein creating the map of a navigable route and surrounding environment further comprises sensing the surrounding environment with a three-dimensional sensor. 
     
     
         13 . The method of  claim 9 , wherein causing the robot to autonomously navigate further comprises receiving a selection of the navigable route from a user interface. 
     
     
         14 . The method of  claim 9 , wherein causing the robot to autonomously navigate comprises navigating using the map of the navigable route and surrounding environment. 
     
     
         15 . The method of  claim 9 , further comprises mapping on the created map an action performed by the robot on the navigable route. 
     
     
         16 . The method of  claim 15 , wherein the action comprises cleaning a floor. 
     
     
         17 . A non-transitory computer-readable storage medium having a plurality of instructions stored thereon, the instructions being executable by a processing apparatus to operate a robot, the instructions configured to, when executed by the processing apparatus, cause the processing apparatus to create a map of a navigable route and surrounding environment during a demonstration of the navigable route to the robot beginning from an initialization location. 
     
     
         18 . The non-transitory computer-readable storage medium of  claim 17 , wherein the created map further comprises an indication representative at least in part of an action performed by the robot on the navigable route. 
     
     
         19 . The non-transitory computer-readable storage medium of  claim 18 , wherein the action is cleaning a floor. 
     
     
         20 . The non-transitory computer-readable storage medium of  claim 17 , wherein the demonstration of the navigation route is a computer simulation. 
     
     
         21 . A robot comprising:
 a mapping and localization unit configured to create a map of a navigable route and surrounding environment during a demonstration of the navigable route to the robot beginning from an initialization location; and   a navigation unit configured to autonomously navigate the robot using the map.   
     
     
         22 . The robot of  claim 21 , wherein the navigation unit is further configured to determine not to autonomously navigate at least a portion of the navigable route. 
     
     
         23 . The robot of  claim 21 , further comprising a sensor unit configured to generate sensor data indicative at least in part of objects within a sensor range of the robot, wherein the navigation unit is further configured to autonomously navigate based at least in part on the generated sensor data. 
     
     
         24 . The robot of  claim 21 , further comprising a first actuator unit configured to actuate a brush. 
     
     
         25 . The robot of  claim 24 , further comprise a processor configured to associate a position on the map with actuation of the first actuator unit. 
     
     
         26 . The robot of  claim 21 , further comprising a communication unit configured to communicate with a server, wherein the robot sends the map to the server and receives a verification of the indicated quality of the map.