Method for operating a robot

• US 6,339,735 B1
• Filed: 12/29/1998
• Issued: 01/15/2002
• Est. Priority Date: 12/29/1998
• Status: Expired due to Term

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: Friendly Robotics Ltd (Whirlpool Corporation)
• Inventors: Peleg, Ilan, Peless, Ehud, Abrahamson, Shai
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US09/221,834
• Time in Patent Office: 1,113 Days
• Field of Search: 701/23, 701/25, 701/200, 701/202, 701/300, 701/301, 56/102.A, 56/102.R, 180/168, 180/169, 318/587
• 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 for operating in multiple operative modes, said utility robot comprising;

a main body configured for at least temporarily receiving a first control device, said first control device configured for providing at least one signal corresponding to at least one operative mode for said robot;

a recognition system for recognizing said first control device; and

a controller in communication with said recognition system, for operating said robot in said at least one operative mode in accordance with said at least one signal from said first control device.

2. The utility robot of claim 1, wherein said main body comprises a port configured for at least temporarily communication with said first control device.

3. The utility robot of claim 2, wherein said main body additionally comprises a socket in communication with said port and said control device is removably attachable from said socket.

4. The utility robot of claim 2, wherein said port is additionally configured for communication with a second control device.

5. The utility robot of claim 4, wherein said second control device is configured for providing at least one signal to said controller for said controller to operate said robot in at least one autonomous mode.

6. The utility robot of claim 4, wherein said second control device is configured for remotely communicating with said recognition system and said control system through said port.

7. The utility robot of claim 4, wherein said second control device is configured for providing at least one signal to said controller for said controller to operate said robot in at least one manual mode.

8. The utility robot of claim 4, wherein said main body includes said second control device.

9. The utility robot of claim 1, wherein said utility robot is selected from the group consisting of lawn mowers, vacuum cleaners, wet floor cleaners and snow removers.

10. The utility robot of claim 1, wherein said first control device is configured for providing said at least one signal to said controller for said controller to operate said robot in at least one manual mode.

11. The utility robot of claim 1, wherein said first control device is configured for providing said at least one signal to said controller for said controller to operate said robot in at least one autonomous mode.

12. The utility robot of claim 1, wherein said first control device is configured for providing said at least one signal to said controller for providing charging for said robot.

13. The utility robot of claim 1, wherein said first control device is configured for providing said at least one signal to said controller for immobilizing said robot.

14. The utility robot of claim 1, wherein said first control device is configured for providing said at least one signal to said controller to operate said robot in at least one edge cutting mode.

15. A method for operating a utility robot in multiple modes, for performing at least one task in at least one area, said at least one area having boundaries and an interior, comprising;

providing a control device configured for being at least temporarily received in the main body of said utility robot, said utility robot including a control panel;

connecting said control device to said main body of said utility robot;

recognizing said control device; and

sending at least one first signal, from said control device to a control system in said utility robot, for controlling said robot in performing said at least one task in said at least one area in at least one manual mode.

16. The method of claim 15, additionally comprising, sending at least one second signal from said control panel to said control system for performing said at least one task in at least one autonomous mode.

17. The method of claim 16, wherein said task is selected from the group comprising:

lawn moving, vacuum cleaning, wet floor cleaning and snow removal.

18. The method of claim 17, wherein performing said at least one task in said at least one autonomous mode, in said at least one area, includes,

providing a sensor positioned on said utility robot;

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

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

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

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

(a) causing said 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 said utility robot to turn around in about 180°

, when sensing said boundary.

19. The method of claim 16, wherein said task comprises lawn mowing.

20. The method of claim 19, additionally comprising, sending at least one third signal to said control system for performing said at least one task in at least one edge cutting mode.

21. The method according to claim 18, wherein performing said task in the edge cutting mode, in said at least one area, including,

providing a sensor positioned on said utility robot;

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

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

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

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

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

22. The method of claim 19, wherein said sending at least one first signal for controlling said robot in performing said at least one task in said at least one manual mode includes sending at least one signal for steering said utility robot.

23. The method of claim 22, wherein said steering said utility robot includes at least one of maneuvering said utility robot or controlling speed of said utility robot.

24. The method of claim 22, wherein said at least one area includes at least two areas.

25. The method of claim 24, wherein one of said at least two areas includes a storage area for said utility robot.