Celestial navigation system for an autonomous robot

• US 8,634,958 B1
• Filed: 09/26/2011
• 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:
  US13/245,694
• Time in Patent Office: 848 Days
• Field of Search: 701/1, 701/2, 701/22, 701/23, 701/25, 701/26, 701/27, 701/400, 701/408, 701/411, 701/412, 701/416, 701/434, 701/448, 701/449, 701/472, 701492-496, 701500-514, 701/523, 701/526, 701/541, 700245-263, 340901-905, 340/932.2, 340933-943, 340988-99526, 340/435, 33268-269, 332/75.G, 244 315- 318, 318/582
• 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 disposed within a working area and comprising first and second emitters for emitting respective first and second signals to reflect as first and second reflected signals modulated differently from one another and reflecting at spaced apart positions upon a remote surface above the working area; and

a mobile robot, comprising;

drive components that move the robot within the working area, and

a receiver installed at a top surface of the mobile robot, the receiver including a plurality of independent photodiodes arranged to face in different directions and each responsive to the first and second reflected signals from a remote surface above the working area, and

a processor connected to the receiver and configured to determine a first angle associated with the first reflected signal, by comparing signals from the plurality of independent photodiodes in response to the first reflected signal, to determine a second angle associated with the second reflected signal, by comparing signals from the plurality of independent photodiodes in response to the second reflected signal, and determine a location of the robot within the working area relative to the reflected signals, based on at least the first and second determined angles,

wherein the plurality of independent photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.

2. The autonomous robot system of claim 1, wherein the remote surface comprises a ceiling and the transmitter is disposed within the working area, the first and second emitted signals being directed toward the ceiling.

3. The autonomous robot system of claim 1, wherein the first and second emitted signals are directed away from a wall vertical to the receiver at an angle of at least about 5 degrees with respect to the wall vertical to the receiver.

4. The autonomous robot system of claim 1, 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.

5. The autonomous robot system of claim 1, wherein the transmitter further comprises a collimator for focusing and directing the emitted signals.

6. The navigational control system of claim 1, wherein the processor 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.

7. The navigational control system of claim 1, wherein the first and second signals are modulated to be different from one another by one of modulating the signals at different frequencies or pulsing the signals with different codes.

8. A navigational control system comprising:

a transmitter disposed within a working area and comprising a stationary emitter configured to direct first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface; and

a mobile robot operating with the working area, the mobile robot comprising a receiving subsystem comprising;

a receiver installed at a top surface of the mobile robot and directed generally upward, the receiver including a plurality of discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals; and

a processor connected to the receiver and configured to determine a first angle associated with the first reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the first signal as reflected off of the remote surface, to determine a second angle associated with the second reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the second signal as reflected off of the remote surface, and to determine a location of the robot within the working area relative to the reflected signals, based on at least the first and second determined angles;

wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.

9. The navigational control system of claim 8, wherein the emitter sequentially emits the first and second signals as coded signals.

10. The navigational control system of claim 8, wherein the receiver comprises a plurality of photodiodes oriented equiangularly to each adjacent photodiode, each photodiode adapted to detect at least one of the first or second signals reflected from the remote surface.

11. The navigational control system of claim 8, wherein the receiver comprises a plurality of photodiodes each arranged to at least partially face one of a corresponding number of substantially orthogonal travel directions of the robot.

12. The navigational control system of claim 8, wherein the receiver comprises an odd number of photodiodes.

13. The navigational control system of claim 12, wherein the one of the photodiodes is oriented substantially equiangularly to other photodiodes.

14. The navigational control system of claim 12, wherein at least one of the photodiodes is oriented in a direction corresponding to a reference direction of travel of the robot.

15. The navigational control system of claim 8, wherein the processor further comprises a navigational algorithm, and the processor directs a movement of the robot within the working area based on input from the receiver.

16. The navigational control system of claim 8, wherein the processor determines the relative position of the robot at least in part on at least one of an elevation and an azimuth of each detected signal.

17. A method of control for a mobile robot operating within a working area, the method comprising:

transmitting directed first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface;

detecting the first and second signals as reflected off of the remote surface using an upwardly directed receiver of the mobile robot, the receiver including a plurality of discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals;

determining a first angle associated with the first reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the first signal as reflected off of the remote surface;

determining a second angle associated with the second reflected signal, from relative amplitudes of the response signals from the photodiodes in response to the second signal as reflected off of the remote surface; and

determining a location of the robot in the working area relative to the reflected signals, based on at least the first and second determined angles;

wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.

18. The method of claim 17, further comprising directing a movement of the robot within the working area, the movement based at least in part upon the determined location of the robot within the working area.

19. The method of claim 18, further comprising:

storing the location of the robot in memory; and

comparing the location of the robot to a stored location.

20. The method of claim 19, further comprising directing a movement of the robot within the working area, the movement based at least in part on the stored location.

21. The method of claim 17, wherein the location of the robot is based at least in part on at least one of an elevation and an azimuth of the detected signal.

22. The method of claim 17 further comprising creating a map of the working area based on the locations of the robot as the robot maneuvers about the working area.

23. A method of control of a mobile robot system, the method comprising:

transmitting directed first and second signals, modulated to be different from one another, onto a remote surface above the working area, such that the first and second signals are reflected from spaced apart positions on the remote surface;

detecting the first and second signals as reflected off of the remote surface using an upwardly directed receiver of the mobile robot, the receiver including a plurality of discrete photodiodes arranged to face in different directions and configured to generate respective response signals responsive to the reflected signals;

determining a location of the robot in the working area relative to the first and second reflected signals;

directing a movement of the robot within the working area, the movement based at least in part upon the determined location of the robot relative to the first and second reflected signals within the working area;

storing the location of the robot relative to the first and second reflected signals in memory;

comparing the location of the robot relative to the first and second reflected signals to a stored location;

creating a map of the working area based on the locations of the robot relative to the first and second reflected signals as the robot maneuvers about the working area.

24. The method of claim 23, further comprising directing a movement of the robot within the working area, the movement based at least in part on the stored location.

25. The method of claim 23, wherein the location of the robot is based at least in part on at least one of an elevation and an azimuth of the detected signal.

26. The method of claim 23, further comprising

wherein the photodiodes are angularly spaced to face in different directions about the receiver so as to detect one or both of the reflected signals in various positions within the working area.

27. The method of claim 23, further comprising

maneuvering the robot away from a base station within a working area;

associating reflected signals with a corresponding working area;

when the robot power level is below a threshold power level, maneuvering the robot through working areas back to the docking station.

28. The method of claim 27, further comprising maneuvering the robot away from the docking station through the previously encountered working areas according to a travel order.

29. The navigational control system of claim 28, further comprising:

locating the docking station for docking in response to a received docking station signal; and

maneuvering the robot in response to a received docking station signal.

30. The method of claim 23, wherein each photodiode of the receiver is arranged equiangularly to each adjacent photodiode.