NAVIGATING AUTONOMOUS COVERAGE ROBOTS

• US 20080091304A1
• Filed: 06/05/2007
• Published: 04/17/2008
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Won, Chik, Halloran, Michael, Sandin, Paul, Ozick, Daniel, Mammen, Jeffrey, Okerholm, Andrea
• Granted Patent: US 8,954,192 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4027 Filtering or separating contaminants or debris
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0411 driven by electric motor
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/12 Dry filters
• CPC Class Codes: A47L 9/1409 Rigid filtering receptacles dust collecting receptacles for cyclones A47L9/1683
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 : User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 : Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/30 : Arrangement of illuminating devices
• CPC Class Codes: B25J 11/0085 : Cleaning
• CPC Class Codes: B25J 13/006 : by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 5/007 : mounted on wheels
• CPC Class Codes: B25J 9/0003 : Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1666 : Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60L 1/003 : to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 : Working vehicles
• CPC Class Codes: B60L 2250/10 : by alarm
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 53/31 : Charging columns specially adapted for electric vehicles
• CPC Class Codes: B60R 19/38 : adjustably or movably mounted, e.g. horizontally displaceable for securing a space between parked vehicles adjustably mounted for compensating manufacturing tolerances B60R19/24, B60R19/26
• 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 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• 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 1/0272 : 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
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: G05D 2201/0203 : Cleaning or polishing vehicle
• CPC Class Codes: H04B 1/02 : Transmitters
• CPC Class Codes: H04B 1/06 : Receivers
• CPC Class Codes: H04L 1/16 : in which the return channel carries supervisory signals, e.g. repetition request signals
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

Abstract

A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.

Claims

1. A method of navigating an autonomous coverage robot between bounded areas, the method comprising:

positioning a navigation beacon in a gateway between adjoining first and second bounded areas, the beacon configured to transmit a gateway marking emission across the gateway; and

placing the coverage robot within the first bounded area, the robot autonomously traversing the first bounded area in a cleaning mode and, upon encountering the gateway marking emission in the gateway, remaining in the first bounded area, thereby avoiding robot migration into the second area;

wherein upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.

2. The method of claim 1 wherein upon termination of the migration mode in the second area, the robot autonomously initiating the cleaning mode in the second bounded area.

3. The method of claim 1 wherein the robot remotely deactivates the gateway marking emission of the navigation beacon upon initiating the migration mode and activates the gateway marking emission upon terminating the migration mode.

4. The method of claim 1 wherein the navigation beacon transmits a proximity emission laterally about the beacon, wherein the robot avoids cleaning and migration within the proximity emission.

5. The method of claim 1 wherein the robot is non-responsive to the gateway emission while in the migration mode.

6. The method of claim 1 wherein the gateway marking emission and the directed vectoring emission both comprise infrared light.

7. The method of claim 1 wherein the navigation beacon is configured to transmit a directed vectoring emission into the first bounded area with the beacon disposed within the gateway, and wherein the robot drives toward the beacon upon detecting the vectoring emission in the migration mode.

8. The method of claim 7 wherein detecting the directed vectoring emission in the migration mode comprises:

the robot sensing the directed vectoring emission with a directional receiver on the robot, the directional receiver aligned with a robot drive direction; and

the robot aligning the robot drive direction with a path defined by the directed vectoring emission.

9. The method of claim 8 further comprising the robot sensing the directed vectoring emission with an omni-directional receiver on the robot before maneuvering to detect the directed vectoring emission with the directional receiver on the robot.

10. The method of claim 8 wherein moving past the beacon further comprises:

the robot moving towards the beacon along the emission path;

the robot sensing a beacon perimeter emitted by the beacon; and

the robot moving along the beam perimeter through the gateway and into the second area.

11. The method of claim 7 wherein the navigation beacon transmits the directed vectoring emission at an angle adjacent the cross-gateway direction of between about 45-90 degrees.

12. The method of claim 7 wherein the robot remotely activates the directed vectoring emission of the navigation beacon and deactivates the gateway emission upon initiating the migration mode.

13. The method of claim 7 wherein the robot remotely deactivates the directed vectoring emission of the navigation beacon and activates the gateway emission upon terminating the migration mode.

14. The method of claim 7 wherein the robot remotely activates and deactivates the emissions of the navigation beacon with a radiofrequency communication.

16. The method of claim 1 wherein each transmitted emission is differentiated by time division multiplexing with a fixed period random offset.

17. The method of claim 1 wherein the robot further comprises:

an omni-directional receiver carried by the robot, the robot defining a drive direction; and

a directional receiver disposed on a forward portion of the robot and responsive to an emission incident on the forward portion of the robot from the drive direction, the directional receiver comprising;

a mounting receptacle defining first and second apertures substantially aligned with the drive direction; and

first and second component receivers housed in the receptacle and positioned to be responsive to the emission received through the first and second apertures, respectively, the component receivers each configured to generate a respective signal in response to the emission;

wherein a controller of the robot is configured to determine a position of the emission in relation to the drive direction based on the signals generated by the component receivers.

18. The method of claim 17 wherein the first and second component receivers of the directional receiver are positioned to form an angle of overlap of about 6 degrees therebetween.

19. The method of claim 17 wherein the first and second component receivers of the directional receiver are capable of detecting an emitter located between about 3 and 5 meters away from the robot.

20. The method of claim 17 wherein the first and second component receivers of the directional receiver are capable of focusing on a single point while in each bounded area.

21. The method of claim 1 wherein the navigation beacon comprises:

a base positionable in the gateway, the base defining a cross-gateway direction;

a gateway beam emitter housed in the base and arranged to emit a beam in the cross-gateway direction

first and second directional beam emitters housed in the base and arranged to emit respective focused beams into each of the adjoining areas when the base is positioned in the gateway; and

an omni-directional beam emitter disposed on the base and configured to project a proximity beam laterally around the beacon.

22. The method of claim 21 wherein the first and second directional focused beams form angles of between about 45 and 90 degrees to the cross-gateway direction.

23. The method of claim 1 wherein upon termination of the migration mode in the second area, the robot autonomously initiates a docking mode to maneuver towards a base station in the second area and docks with the station.

24. The method of claim 23 wherein the base station comprises:

a base defining a docking direction from which the robot may properly dock;

a robot charger housed in the base;

an omni-directional beam emitter mounted on the base and configured to project a proximity beam latently around the base station; and

two navigational field emitters housed in the base and arranged to emit respective, laterally bounded and overlapping fields of emissions of signal beams, respectively;

wherein one of the emitted fields defines a lateral field edge aligned with the docking direction and overlapped by the other of the fields; and

wherein the robot maneuvers towards the base station by detecting and advancing along the lateral field edge of the overlapping fields aligned with the docking direction until docked with the station.

25. The method of claim 24 wherein the two navigational field emitters of the base station are positioned to form an angle of overlap of about 6 degrees, and wherein each emitter has an aperture angle of between about 20 and 30 degrees.

27. The method of claim 24 wherein the robot

detects the emissions of the base station with an omni-directional receiver on the robot;

maneuvers to detect an outer lateral field edge of at least one field emission;

advances along the outer lateral field edge of the one field emission to the aligned lateral field edge of the overlapping fields; and

upon detecting the aligned lateral field edge, advances along the aligned lateral field edge until docked with the station.

15. (canceled)

26. (canceled)