Method for operating a robot

• US 20010047231A1
• Filed: 08/02/2001
• Published: 11/29/2001
• Est. Priority Date: 12/29/1998
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: Friendly Robotics Ltd (Whirlpool Corporation)
• Inventors: Peleg, Ilan, Peless, Ehud, Abrahamson, Shai
• Granted Patent: US 6,493,613 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

There is disclosed a utility robot for operating in multiple modes, in particular, at least one autonomous mode and at least one manual mode. The robot is configured with a recognition system for recognizing a signal indicating the particular mode in which to operate, and adjusts its control system accordingly. Methods for operation of this utility, performing various tasks, such as lawn mowing, vacuuming, floor cleaning and snow removing are also disclosed.

Claims

1. A utility robot capable of operating in at least one autonomous mode and at least one manual mode, said utility robot comprising;

a main body configured for receiving a signal from a control device;

a recognition system for recognizing said signal; and

a controller in communication with said recognition system, for changing an operative mode of said utility robot, in accordance with the recognized signal.

2. The utility robot according to

claim 1

wherein the main body comprises a port for receiving a signal from the control device.

3. The utility robot according to

claim 1

wherein the control device is selected from the group consisting of a control unit for an autonomous mode, a manual control unit and an accessory device.

4. The utility robot according to

claim 3

wherein the control device is removably attachable to said port.

5. The utility robot according to

claim 3

wherein the control device is capable of remotely signaling said port.

6. The utility robot according to

claim 1

wherein the operative mode is selected from the group consisting of charging, immobilizer, autonomous mode, edge cutting mode and manual mode.

7. The utility robot according to

claim 1

wherein said utility robot is selected from the group consisting of lawn mowers, vacuum cleaners, wet floor cleaners and snow removers.

20. Use of the utility robot of

claim 1

for lawn mowing, vacuum cleaning, wet floor cleaning or snow removing.

8. A method for operating a utility robot, capable of operating in at least one autonomous mode and at least one manual mode, for performing at least one task in at least one area, said at least one area having boundaries and an interior, comprising;

sending a first signal, to a recognition system in said utility robot, for performing said task in said at least one area in a first mode;

and

sending a second signal, to said recognition system, for performing said task in a second mode in said at least one area .

9. The method according to

claim 8

wherein the first mode is a manual mode and the second mode is an autonomous mode.

10. The method according to

claim 9

wherein said task is selected from the group consisting of lawn mowing, vacuum cleaning, wet floor cleaning and snow removal.

11. The method according to

claim 9

wherein said task comprises lawn mowing.

12. The method according to

claim 11

wherein operating in the manual mode consists of steering the utility robot and wherein operating in the autonomous mode consists of navigating the utility robot and/or of operating in an edge cutting mode.

13. The method according to

claim 12

wherein steering the utility robot consists of setting said utility robot in motion and either one or both of maneuvering or controlling speed of said utility robot.

14. The method according to

claim 12

wherein said at least one area includes at least two areas and steering the utility robot is in between said at least two areas or within at least one area.

15. The method according to

claim 14

wherein one of the at least two areas is a storage area for the utility robot.

16. The method according to

claim 12

wherein operating in the autonomous mode is in either one or both of the boundries or interior of the at least one area.

17. The method according to

claim 10

wherein performing said task in the autonomous mode, in the interior of said at least one area, is by

providing a sensor positioned on the utility robot;

providing a boundary along a perimeter of said at least one area, said boundary being detectable by the sensor on the utility robot;

providing boundaries along a perimeter of each area enclosed in said at least one area, in which it is desired that the utility robot should not operate, said boundaries also being detectable by the sensor on the utility robot;

providing processing means connected to the said sensor and receiving an input therefrom;

and when the utility robot is to operate within the said at least one area;

(a) causing the utility robot to move in an essentially straight line from a point in said at least one area in the direction of a boundary;

(b) causing the utility robot to turn around in about 180°

, when sensing said boundary.

18. The method according to

claim 11

wherein the first mode is a manual mode or an autonomous mode and the second mode is an edge cutting mode.

19. The method according to

claim 18

wherein performing said task in the edge cutting mode, in the boundaries of said at least one area, is by

providing a sensor positioned on the utility robot;

providing a boundary along a perimeter of said at least one area, said boundary being detectable by the sensor on the utility robot;

providing boundaries along a perimeter of each area enclosed in said at least one area, in which it is desired that the utility robot should not operate, the said boundaries also being detectable by the sensor on the utility robot;

providing processing means connected to the said sensor and receiving an input therefrom;

and when the utility robot is to operate within said at least one area;

causing the utility robot to move along each of the boundaries provided around or within said at least one area.