Robot confinement

• US 8,368,339 B2
• Filed: 08/13/2009
• Issued: 02/05/2013
• Est. Priority Date: 01/24/2001
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Primary Examiner(s): Benson, Walter
• Assistant Examiner(s): GLASS, ERICK DAVID
• Application Number:
  US12/540,564
• Publication Number:
  US 20090319083A1
• Time in Patent Office: 1,272 Days
• Field of Search: 318/567, 318/568.12, 318/580, 318/583, 318/587, 700245-247, 901/1, 901/46, 901/47
• US Class Current: 318/567
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• 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 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/028 using a RF signal

Abstract

A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Claims

1. A robot navigation system comprising:

a robot having a light beam receiver oriented in a manner to have an omnidirectional field of view and configured to receive both directed beams and diffuse light signals; and

at least one omnidirectional diffuse light region emitter that emits a modulated diffuse light region, wherein the omnidirectional modulated diffuse light region is positioned in a plane parallel to ground level such that a light beam receiver on the robot is in substantially the same plane as the omnidirectional modulated diffuse light region; and

at least one directional light beam emitter that emits a directed beam defining a navigation barrier.

2. The navigation system of claim 1, wherein the omnidirectional modulated diffuse light region is modulated in an infrared frequency.

3. The navigation system of claim 1, wherein the light beam emitter is responsive to a robot that sends a signal to the light beam emitter to turn the light beam emitter on.

4. The navigation system of claim 1, further comprising a detector on the omnidirectional light region emitter.

5. The navigation system of claim 4, wherein the omnidirectional light region emitter emits a light beam of a second modulation upon interruption of a first modulated diffuse light beam.

6. The navigation system of claim 1, wherein the robot is configured to avoid contact with the omnidirectional diffuse light region emitter.

7. The navigation system of claim 6, wherein the omnidirectional diffuse light region emitter is located on at least one of a charging base station, a virtual wall beacon and a portable barrier signal transmitter.

8. The navigation system of claim 1, wherein the directional light beam emitter is positioned to define a confined work area.

9. The navigation system of claim 1, further comprising:

a detector on the omnidirectional light region emitter; and

an electromagnetic signal emitter that emits radio, x-ray or microwave signals to the robot in response to interruption of a directed light beam detected by the detector.

10. The navigation system of claim 1, wherein the light beam receiver is a single omnidirectional-sensor.

11. The navigation system of claim 1, wherein the light beam receiver comprises a plurality of side-mounted sensors.

12. A method of navigating a robot based on differing light signals, the method comprising:

providing, on a robot, a light beam receiver oriented in a manner to have an omnidirectional field of view and being configured to receive both directed beams and diffuse light signals;

providing at least one omnidirectional diffuse light region emitter that emits a modulated diffuse light region;

positioning the omnidirectional modulated diffuse light region emitter in a plane parallel to ground level such that the light beam receiver on the robot is in the same plane as the omnidirectional modulated diffuse light region; and

defining via at least one directional light beam emitter a directed barrier with a directed beam detectable by the light beam receiver of the robot.

13. The method of claim 12, further comprising controlling a robot drive to reverse the direction of travel of the robot in response to detection of the directed barrier.

14. The method of claim 12, further comprising controlling a robot drive to turn the robot in response to detection of the directed barrier.

15. The method of claim 14, wherein controlling the robot includes turning the robot in one of a random direction and a predetermined direction until the directed barrier is no longer detected.

16. The method of claim 12, further comprising controlling a robot drive such that the robot alternately approaches and avoids the directed barrier.

17. The method of claim 12, wherein the light beam receiver is a single omnidirectional-sensor.

18. The method of claim 12, wherein the light beam receiver comprises a plurality of side-mounted sensors.