Robot confinement

• US 8,781,627 B2
• Filed: 06/19/2009
• Issued: 07/15/2014
• Est. Priority Date: 03/17/2006
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Sandin, Paul E., Jones, Joseph L., Ozick, Daniel N., Cohen, David A., Lewis, David M. Jr., Vu, Clara, Dubrovsky, Zivthan A., Preneta, Joshua B., Mammen, Jeffrey W., Gilbert, Duane L. Jr., Campbell, Tony L., Bergman, John, Chiappetta, Mark J.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LI, CE LI
• Application Number:
  US12/488,094
• Publication Number:
  US 20090254218A1
• Time in Patent Office: 1,852 Days
• Field of Search: 701/245, 701/258, 701/261
• US Class Current: 700/258
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2210/30 AC to DC converters
• CPC Class Codes: B60L 2210/40 DC to AC converters
• CPC Class Codes: B60L 2240/36 Temperature of vehicle components or parts
• CPC Class Codes: B60L 2240/425 Temperature
• CPC Class Codes: B60L 2240/662 Temperature
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 2270/145 Structure borne vibrations
• CPC Class Codes: B60L 3/0023 Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60L 50/52 characterised by DC-motors
• CPC Class Codes: B60L 50/62 charged by low-power generators primarily intended to support the batteries, e.g. range extenders
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0265 : using buried wires
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles
• 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 90/12 : Electric charging stations
• 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 901/09 : Closed loop, sensor feedback controls arm movement

Abstract

A robot lawmnower includes a body, a drive system carried by the body, at least one caster wheel supporting the body, a grass cutter carried by the body, a controller in communication with the drive system, and a bump sensor in communication with the controller. The controller is configured to maneuver the robot to turn in place and to redirect the robot in response to the bump sensor sensing contact with an obstacle. The drive system is configured to maneuver the robot across a lawn and includes differentially driven right and left drive wheels positioned rearward of a transverse center axis defined by the body. The at least one caster wheel is positioned substantially forward of the right and left drive wheels, and the grass cutter is positioned at least partially forward of the right and left drive wheels and at least partially behind the at least one caster wheel.

Claims

1. A robot lawnmower comprising:

a body;

a drive system carried by the body and configured to maneuver the robot across a lawn;

a grass cutter carried by the body;

at least one tilt sensor carried by the body, the at least one tilt sensor configured to monitor a robot tilt to provide terrain data to determine whether the body is maneuvering over surface phenomena that may be treated as obstacles;

at least one wheel drop sensor carried by the body, the wheel drop sensor configured to sense when at least a portion of the drive system enters an extended position indicative of loss of wheel contact with the lawn surface;

a detachable manual handle configured to be attached to the body; and

a handle connector carried by the body, the handle connector configured to detect if the manual handle is attached to the body;

wherein the drive system is configured to operate in an autonomous mode when the handle connector detects that the manual handle is detached from the body and redirect the robot away from multiple different types of obstacles including obstacles indicated as surface phenomena represented by the tilt sensor, and as loss of wheel contact represented by the wheel drop sensor; and

wherein the drive system is configured to operate in a manual mode when the handle connector detects that the manual handle is attached to the body.

2. The robot lawnmower of claim 1, wherein the drive system comprises right and left sets of forward and rear drive wheels, each set of drive wheels being disposed on a corresponding side of the body and differentially driven with respect to each other.

3. The robot lawnmower of claim 2, wherein the forward and rear drive wheels are positioned forward and rearward, respectively, of a transverse center axis defined by the body.

4. The robot lawnmower of claim 2, further comprising a stasis detector carried by the body, the stasis detector configured to measure drive torque applied to at least one of the drive wheels.

5. The robot lawnmower of claim 2, further comprising a stasis detector carried by the body, the stasis detector configured to measure an electric drive current delivered to at least one of the drive wheels.

6. The robot lawnmower of claim 2, further comprising a battery carried by the body and positioned substantially between the right and left sets of forward and rear drive wheels.

7. The robot lawnmower of claim 6, wherein the battery is configured to power a DC motor.

8. The robot lawnmower of claim 1, further comprising a controller in communication with the drive system, the controller configured to maneuver the robot lawnmower to turn in place.

9. The robot lawnmower of claim 1, further comprising a stasis detector carried by the body and configured to measure a motor load of the grass cutter.

10. The robot lawnmower of claim 1, wherein the grass cutter comprises a rotary cutter.

11. The robot lawnmower of claim 1, wherein the grass cutter is vertically movable relative to the body to allow adjustment of a cut height of the grass cutter.

12. The robot lawnmower of claim 1, wherein the detachable manual handle comprises a kill switch in communication with the drive system, the kill switch configured to send a signal to turn off the robot when the kill switch is not activated.

13. The robot lawnmower of claim 12, wherein the drive system is configured to have a default kill switch off condition when the detachable handle is attached to the body and a default kill switch on condition when the detachable handle is detached from the body.

14. The robot lawnmower of claim 12, wherein the manual handle is configured in the form of a conventional push mower handle.

15. The robot lawnmower of claim 1, comprising a boundary responder detection system in communication with the drive system and configured to detect at least one boundary responder, wherein the drive system is configured to redirect the robot in response to the boundary responder detection system detecting the boundary responder.

16. The robot lawnmower of claim 15, wherein the robot is configured to operate in a check setup mode that requires a user to maneuver the robot to circumnavigate and approach boundary responders and obstacles while the robot is in manual mode.

17. The robot lawnmower of claim 16, comprising a user interface configured to notify a user while in check setup mode when the robot detects obstacles indicated as water content represented by the water content sensor, as surface phenomena represented by the tilt sensor, as loss of wheel contact represented by the wheel drop sensor, or when the robot detects a boundary responder.

18. The robot lawnmower of claim 16, wherein the robot is configured to permit autonomous mode once the check setup mode is completed.

19. The robot lawnmower of claim 1, where in the detachable manual handle is one of a push bar, pull bar, pull leash, rigid handle, or foldable handle.

20. The robot lawnmower of claim 1, where in the body is configured to receive and stow the detachable manual handle.

21. The robot lawnmower of claim 1, wherein the drive system is configured to direct the robot at a faster speed during manual mode than in autonomous mode.

22. The robot lawnmower of claim 1, further comprising at least one water content sensor carried by the body, the at least one water content sensor configured to sense water content indicative of the non-grass surface below the body.

23. A robot lawnmower comprising:

a body;

a drive system carried by the body and configured to maneuver the robot across a lawn;

a grass cutter carried by the body; and

at least one water content sensor carried by the body within a perimeter defined by the body and toward the front of the body, the at least one water content sensor configured to sense water content indicative of the non-grass surface below the body;

at least one tilt sensor carried by the body, the at least one tilt sensor configured to monitor a robot tilt to provide terrain data to determine whether the body is maneuvering over surface phenomena that may be treated as obstacles;

at least one wheel drop sensor carried by the body, the wheel drop sensor configured to sense when at least a portion of the drive system enters an extended position indicative of loss of wheel contact with the lawn surface; and

the drive system configured to redirect the robot away from obstacles indicated as water content represented by the water content sensor, as terrain data represented by the tilt sensor, and as loss of wheel contact represented by the wheel drop sensor;

wherein the at least one water content sensor is a non-contact sensor and the non-contact sensor comprises two polarized light emitters and a polarized light detector, the polarized light emitters and the polarized light detector carried within a perimeter defined by the body, the polarized light emitters, respectively, configured to emit mutually cross-polarized beams of light angled downward below the body and the polarized light detector is polarized with regard to one of the two light emitters and positioned to detect whether a specular reflection has been removed from liquid below the body.

24. The robot lawnmower of claim 23, wherein the drive system comprises right and left sets of forward and rear drive wheels, each set of drive wheels being disposed on a corresponding side of the body and differentially driven with respect to each other.

25. The robot lawnmower of claim 24, wherein the forward and rear drive wheels are positioned forward and rearward, respectively, of a transverse center axis defined by the body.

26. The robot lawnmower of claim 24, further comprising a stasis detector carried by the body, the stasis detector configured to measure drive torque applied to at least one of the drive wheels.

27. The robot lawnmower of claim 24, further comprising a stasis detector carried by the body, the stasis detector configured to measure an electric drive current delivered to at least one of the drive wheels.

28. The robot lawnmower of claim 24, further comprising a battery configured to power a DC motor, the battery being carried by the body and positioned substantially between the right and left sets of forward and rear drive wheels.