Celestial navigation system for an autonomous robot

• US 8,634,956 B1
• Filed: 03/31/2009
• Issued: 01/21/2014
• Est. Priority Date: 07/07/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Chiappetta, Mark J., Frankel, James Paul
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US12/415,512
• Time in Patent Office: 1,757 Days
• Field of Search: 701/1, 701 23- 28, 700245-264
• US Class Current: 700/245
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 2201/06 Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2836 characterised by the parts which are controlled
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: B60L 53/38 specially adapted for charging by inductive energy transfer
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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 1/0234 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 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0276 : using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G06F 17/00 : Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: H02J 2310/14 : The load or loads being home appliances
• CPC Class Codes: H02J 50/001 : Energy harvesting or scavenging
• CPC Class Codes: H02J 50/10 : using inductive coupling
• CPC Class Codes: H02J 50/12 : of the resonant type
• CPC Class Codes: H02J 50/20 : using microwaves or radio frequency waves
• CPC Class Codes: H02J 50/90 : involving detection or optimisation of position, e.g. alignment
• CPC Class Codes: H04W 88/06 : adapted for operation in multiple networks or having at least two operational modes, e.g. multi-mode terminals
• 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 90/12 : Electric charging stations
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area based on input from the receiver.

Claims

1. An autonomous robot system comprising:

a transmitter separate from a mobile robot operating in a working area, the transmitter being disposed within the working area and comprising an emitter configured to emit at least one signal onto a remote surface above the working area, wherein the transmitter is configured so that the emitter is positionable to emit the signal to at least two different positions on the remote surface;

wherein the mobile robot;

a robot body;

a drive system disposed on the robot body and configured to maneuver the robot over a surface within a working area; and

a navigation system in communication with the drive system, the navigation system comprises;

a receiver responsive to the emitted signal as reflected off of the remote surface; and

a processor connected to the receiver and configured to determine a relative location of the robot within the working area based on input from the receiver.

2. The autonomous robot system of claim 1, wherein the receiver is disposed on a top mounted component of the robot, substantially facing upward.

3. The autonomous robot system of claim 1, wherein the navigation system is configured to determine a relative location of the at least one signal on the remote surface, the navigation system maneuvering the robot relative to the signal location on the remote surface, and wherein the navigation system is configured to create a map of the working area based on the relative locations of the robot as the robot maneuvers about the working area.

4. The autonomous robot system of claim 1, wherein the transmitter further comprises a collimator for focusing and directing the emitted at least one signal.

5. The autonomous robot system of claim 1, wherein the transmitter comprises first and second emitters for emitting respective first and second signals onto the remote surface, the first and second emitted signals being directable at an adjustable angle with respect to each other for directing the first and second signals with respect to each other, and wherein the first and second emitted signals are directed toward the remote surface at an angle of about 30 degrees with respect to each other.

6. The autonomous robot system of claim 1, wherein each signal comprises a coded signal having a code as a unique identifier, the processor configured to identify the coded signal from the respective code.

7. The autonomous robot system of claim 6, wherein each coded signal is directed onto the remote surface to mark a location within the working area, the navigation system configured to determine a relative location of the at least one signal on the remote surface and maneuver the robot relative to the signal location on the remote surface.

8. The autonomous robot system of claim 7, wherein the navigation system is configured execute an operating behavior corresponding with the received coded signal as reflected off of the remote surface.

9. The autonomous robot system of claim 8, wherein the robot further comprises a floor cleaner disposed on the robot body and the operating behavior comprises a cleaning behavior.

10. The autonomous robot system of claim 8, wherein the coded signal is directed to mark an obstacle in the working area and the operating behavior comprises an avoidance behavior.

11. The autonomous robot system of claim 1, wherein the transmitter comprises first and second emitters for emitting respective first and second signals onto the remote surface, the navigation system configured to maneuver the robot according to a heading, and when only one of the emitted signals is detected by the receiver, the navigation system altering the heading to substantially coincide with detected signal at least until the other signal is detected by the receiver.

12. The autonomous robot system of claim 1, wherein the transmitter comprises first and second emitters for emitting respective first and second signals onto the remote surface, when only one of the emitted signals is detected by the receiver, the navigation system configured to maneuver the robot about the working area until the other signal is detected by the receiver.

13. The autonomous robot system of claim 1, wherein the transmitter has an active mode and a dormant mode, the transmitter configured to receive a mode selection signal to switch between the dormant mode to the active mode.

14. The autonomous robot system of claim 13, wherein the robot comprises an emitter disposed on the robot body and configured to emit the mode selection signal.

15. The autonomous robot system of claim 1, wherein the receiver comprises four a plurality of photodiodes arranged substantially in a plane and angularly spaced apart from each other by about 90 degree increments.

16. The autonomous robot system of claim 1, the robot further comprising a dirt sensor in communication with the navigation system, the navigation system maneuvering the robot at least in part in response to a signal from the dirt sensor, and wherein the navigation system is configured to associate dirt location information within the working area with a received dirt sensor signal, the navigation system maneuvering the robot at least in part in response to the dirt location information.

17. The autonomous robot system of claim 16, wherein the navigation system is configured to create a map of the working area based on the relative locations of the robot as the robot maneuvers about the working area and the dirt location information, the navigation system configured to maneuver the robot about the working area with the aid of the map to negotiate mapped dirt locations.

18. The autonomous robot system of claim 1, further comprising a base station disposed within the working area, the base station configured to receive the robot and provide power to the received robot including the transmitter for the working area.

19. The autonomous robot system of claim 18, wherein the navigation system is operable to perform operations comprising:

maneuvering the robot away from the base station about a plurality of other working areas, each other working area having a corresponding transmitter configured to emit a modulated signal, the robot associating the modulated signal with the corresponding other working area; and

storing a travel order of encountered working areas;

monitoring a power level of the robot;

when the robot power level is below a threshold power level, maneuvering the robot through the encountered working areas in reverse travel order back to the base station.