AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEM

• US 20110004339A1
• Filed: 07/01/2010
• Published: 01/06/2011
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: OKERHOLM, Andrea M., SANDIN, Paul E., WON, Chikyung, HALLORAN, Michael J., MAMMEN, Jeffrey W., OZICK, Daniel N.
• Granted Patent: US 8,606,401 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• 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: 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 navigation beacon controls movement of a mobile robot in first and second areas. The navigation beacon includes a portable housing, a power source, and an emitter. The emitter is operable to emit a gateway marking emission when the robot is within a field of detection that extends between the areas. The gateway marking emission is detectable by the robot and prevents the robot from moving from one of the areas, through the field of detection, to the other of the areas. A switch is operable to switch the navigation beacon to be in an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.

Claims

1. A navigation beacon for controlling movement of a mobile robot in a first area and a second area, the mobile robot cleaning the first area and the second area as the mobile robot moves in the first area and the second area, the navigation beacon comprising:

a portable housing;

a power source in the portable housing;

an emitter in the housing that is operable to emit a gateway marking emission when the mobile robot is within a field of detection, the field of detection extending generally between the first area and the second area, the gateway marking emission being detectable by the mobile robot for preventing the mobile robot from moving from one of the areas, through the field of detection, to the other of the areas; and

a switch in the housing that is operable to switch the navigation beacon to be in one of an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.

2. The navigation beacon as set forth in claim 1, wherein the predetermined condition occurs after the gateway beacon emitter is in the ON state for a predetermined period of time.

3. The navigation beacon as set forth in claim 1, wherein the predetermined condition occurs after the mobile robot detects the gateway marking emission a predetermined number of times.

4. The navigation beacon as set forth in claim 1, further comprising:

a detector in the housing that is operable to detect a gateway deactivation signal,

wherein the predetermined condition occurs when the detector detects the gateway deactivation signal.

5. The navigation beacon as set forth in claim 4, wherein the gateway deactivation signal is emitted by the mobile robot.

6. The navigation beacon as set forth in claim 1, further comprising:

a second emitter in the housing that is operable to emit a directed emission in response to the navigation beacon being in the navigation mode and switching from the ON state to the OFF state, the directed emission being detectable by the mobile robot to direct the mobile robot to move toward the navigation beacon and from the one of the areas, through the field of detection, to the other of the areas.

7. The navigation beacon as set forth in claim 6, further comprising:

a detector in the housing that is operable to detect a vectoring deactivation signal,

wherein the second emitter is operable to terminate emission of the directed emission in response to detection of the vectoring deactivation signal.

8. The navigation beacon as set forth in claim 6, wherein, after the mobile robot moves from the one of the areas to the other of the areas, the mobile robot autonomously initiates a cleaning mode for cleaning the other of the areas.

9. The navigation beacon as set forth in claim 1, further comprising:

a detector in the housing that is operable to detect a vectoring activation signal; and

a second emitter in the housing that is operable to emit a directed emission in response to detection of the vectoring activation signal, the directed emission being detectable by the mobile robot to direct the mobile robot to move toward the navigation beacon and from the one of the areas, through the field of detection, to the other of the areas.

10. The navigation beacon as set forth in claim 1, wherein the gateway beacon emitter switches to the OFF state when the mobile robot is not operating.

11. A robot confinement system for controlling movement of a mobile robot in a first area and a second area, comprising:

a navigation beacon, including;

a portable housing;

a power source in the portable housing;

an emitter in the housing that is operable to emit a gateway marking emission when the mobile robot is within a field of detection, the field of detection extending generally between the first area and the second area; and

a switch in the housing that is operable to switch the navigation beacon to be in one of an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition; and

a mobile robot, including;

a chassis including at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot in the areas;

a cleaner operable to clean the areas when the mobile robot moves in the areas;

a controller operable to control the at least one motor to control the movement of the mobile robot in the areas; and

a detector operable to detect the gateway marking emission,

wherein the controller controls the at least one motor to prevent the mobile robot from moving from one of the areas, through the field of detection, to the other of the areas in response to detection of the gateway marking emission.

12. The robot confinement system as set forth in claim 11, wherein the predetermined condition occurs after the gateway beacon emitter is in the ON state for a predetermined period of time.

13. The robot confinement system as set forth in claim 11, wherein the predetermined condition occurs after the detector of the mobile robot detects the gateway marking emission a predetermined number of times.

14. The robot confinement system as set forth in claim 11, wherein

the navigation beacon includes a detector in the housing that is operable to detect a gateway deactivation signal, and

the predetermined condition occurs when the detector of the navigation beacon detects the deactivation signal.

15. The robot confinement system as set forth in claim 14, wherein the mobile robot includes an emitter operable to emit the gateway deactivation signal.

16. The robot confinement system as set forth in claim 11, wherein

the navigation beacon includes a second emitter in the housing that is operable to emit a directed emission in response to the navigation beacon being in the navigation mode and switching from the ON state to the OFF state,

the mobile robot includes a second detector operable to detect the directed emission, and

the controller is operable to control the at least one motor to move the mobile robot toward the navigation beacon and from the one of the areas, through the field of detection, to the other of the areas in response to detection of the directed emission.

17. The robot confinement system as set forth in claim 16, wherein

the navigation beacon includes a detector in the housing that is operable to detect a vectoring deactivation signal, and

the second emitter is operable to terminate emission of the directed emission in response to detection of the vectoring deactivation signal.

18. The robot confinement system as set forth in claim 17, wherein the mobile robot includes an emitter operable to emit the vectoring deactivation signal.

19. The robot confinement system as set forth in claim 16, wherein, the controller is operable to autonomously initiate a cleaning mode for cleaning the other of the areas after controlling the mobile robot to move from the one of the areas to the other of the areas.

20. The robot confinement system as set forth in claim 11, wherein

the navigation beacon includes a detector in the housing that is operable to detect a vectoring activation signal,

the navigation beacon includes a second emitter in the housing that is operable to emit a directed emission in response to detection of the vectoring activation signal,

the mobile robot includes a second detector operable to detect the directed emission, and

the controller is operable to control the at least one motor to move the mobile robot toward the navigation beacon and from the one of the areas, through the field of detection, to the other of the areas in response to detection of the directed emission.

21. The robot confinement system as set forth in claim 20, wherein the mobile robot includes an emitter operable to emit the vectoring activation signal.

22. The robot confinement system as set forth in claim 11, wherein the gateway beacon emitter switches to the OFF state when the mobile robot is not operating.

23. The robot confinement system as set forth in claim 11, further comprising:

a plurality of the navigation beacon,

wherein the gateway marking emission of each of the plurality of the navigation beacon is unique.

24. The robot confinement system as set forth in claim 11, wherein the mobile robot further includes:

a proximity sensor operable to detect an obstacle that is within a predetermined distance of the mobile robot;

a contact sensor operable to detect a contact to the mobile robot; and

a cliff sensor operable to detected a falling edge in the areas as the mobile robot moves toward the falling edge,

wherein the controller is operable to control the at least one motor to change the movement of the mobile robot in response to detection of the obstacle, the contact, and the falling edge.

25. A method for controlling movement of a mobile robot in a first area and a second area with a portable navigation beacon, the navigation beacon disposed between the areas and including a field of detection extending generally between the areas, the method comprising:

switching the navigation beacon to be in one of an OFF mode, a confinement mode, and a navigation mode,

wherein, in the OFF mode, the method further comprises;

allowing, with the navigation beacon, the mobile robot to move freely from one of the areas, through the field of detection, to the other of the areas,

in the confinement mode, the method further comprises;

emitting, with the navigation beacon, a gateway marking emission when the mobile robot is within the field of detection;

detecting, with the mobile robot, the gateway marking emission; and

controlling, with the mobile robot, the movement of the mobile robot to prevent the mobile robot from moving from one of the areas, through the field of detection, into the other of the areas in response to detection of the gateway marking emission, and

in the navigation mode, the method further comprises;

allowing, with the navigation beacon, the mobile robot to move freely from one of the first area and the second area to the other of the first area and the second area when the navigation beacon is in an OFF state;

emitting, from the navigation beacon, a gateway marking emission when the mobile robot is within the field of detection when the navigation beacon is in an ON state;

detecting, with the mobile robot, the gateway marking emission emitted by the navigation beacon;

controlling, with the mobile robot, the movement of the mobile robot to prevent the mobile robot from moving from one of the areas, through the field of detection, into the other of the areas in response to detection of the gateway marking emission; and

automatically switching the navigation beacon from the ON state to the OFF state in response to a predetermined condition.

26. The method as set forth in claim 25, wherein the predetermined condition is one of the gateway beacon emitter being in the ON state for a predetermined period of time, the mobile robot detecting the gateway marking emission a predetermined number of times, and the navigation beacon receiving a gateway deactivation signal.

27. The method as set forth in claim 25, further comprising:

emitting, with the navigation beacon, a directed emission when the navigation beacon is in the navigation mode in response to the navigation beacon automatically switching from the ON state to the OFF state;

detecting, with the mobile robot, the directed emission; and

controlling, with the mobile robot, the mobile robot to move toward the navigation beacon and from one of the areas, through the field of detection, into the other of the areas in response to detection of the directed emission.

28. The method as set forth in claim 27, further comprising:

autonomously initiating, with the mobile robot, a cleaning mode for cleaning the other of the areas after controlling the mobile robot to move from the one of the areas into the other of the areas.