Method and system for mobile work system confinement and localization

• US 10,281,922 B2
• Filed: 10/24/2017
• Issued: 05/07/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Inventors: Smith, Steven W., Wolf, Micah E., Guadiz, Maynard S.
• Primary Examiner(s): Lyons, Michael A
• Assistant Examiner(s): Prieto, Violeta A
• Application Number:
  US15/791,780
• Publication Number:
  US 20180059676A1
• Time in Patent Office: 560 Days
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means

Abstract

The disclosed technology relates to a method and system for localizing and confining an autonomous mobile work system or systems for performing work in a user defined space. The system can include two or more variable reflective base stations at first and second locations that can modify their optical or electromagnetic reflectivity based upon either an external command via wired or wireless communications interface, or automatically on a regular or asynchronous time schedule under programmed or user settable control. The system also can include one or more autonomous mobile work systems capable of sensing the state of the variable reflectance base stations via sensors such as electromagnetic or optical sensors capable of measuring distance to the reflective base stations.

Claims

1. A method of determining a location of an autonomous mobile work device, the method comprising:

providing a first variable reflectivity base station, and a second variable reflectivity base station;

transmitting a first command from the autonomous mobile work device to the first variable reflectivity base station that changes an optical and/or an electromagnetic reflectivity state of the first variable reflectivity base station;

determining a first reflectivity measurement;

transmitting a second command from the autonomous mobile work device to the second variable reflectivity base station that changes the optical and/or electromagnetic reflectivity state of the second variable reflectivity base station;

determining a second reflectivity measurement;

identifying the first variable reflectivity base station and the second variable base station based on the first reflectivity measurement and the second reflectivity measurement;

providing a location of the first variable reflectivity base station and a location of the second variable reflectivity base station to the autonomous mobile work device;

changing a reflectivity state of the first variable reflectivity base station;

calculating a first distance between the first variable reflectivity base station and the autonomous mobile work device, wherein the first distance is calculated by the autonomous mobile work device;

changing the reflectivity state of the second variable reflectivity base station;

calculating a second distance between the second variable reflectivity base station and the autonomous mobile work device, wherein the second distance is calculated by the autonomous mobile work device; and

calculating the location of the autonomous mobile work device based on the first and second calculated distances, wherein the location is calculated by the autonomous mobile work device.

2. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first and second variable reflectivity base stations comprises changing an electromagnetic reflectivity state of the first and second variable reflectivity base stations.

3. The method of determining the location of an autonomous mobile work device of claim 1, comprising

providing an orientation of the first variable reflectivity base station and an orientation of the second variable reflectivity base station to the autonomous mobile work device;

changing the reflectivity state of the first variable reflectivity base station;

calculating an angle between the first variable reflectivity base station and the autonomous mobile work system;

changing the reflectivity state of the second variable reflectivity base station;

calculating a second angle between the second variable reflectivity base station and the autonomous mobile work system; and

calculating the location of the autonomous mobile work system based at least in part on the first and second calculated angles.

4. The method of determining the location of an autonomous mobile work device of claim 1, comprising:

calculating the location of the autonomous mobile work system based on the provided location of the first variable reflectivity base station and the provided location of the second variable reflectivity base station.

5. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first variable reflectivity base station and changing the reflectivity state of the second variable reflectivity base station comprises changing an optical and/or an electromagnetic reflectivity state.

6. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first variable reflectivity base station comprises changing an electromagnetic reflectivity state.

7. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first variable reflectivity base station comprises changing an optical reflectivity state.

8. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the second variable reflectivity base station comprises changing an electromagnetic reflectivity state.

9. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the second variable reflectivity base station comprises changing an optical reflectivity state.

10. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first variable reflectivity base station occurs in response to an external command.

11. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the first variable reflectivity base station occurs in response to a predetermined schedule.

12. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the second variable reflectivity base station occurs in response to an external command.

13. The method of determining the location of an autonomous mobile work device of claim 1, wherein changing the reflectivity state of the second variable reflectivity base station occurs in response to a predetermined schedule.