Celestial navigation system for an autonomous robot

• US 8,874,264 B1
• Filed: 11/18/2011
• Issued: 10/28/2014
• Est. Priority Date: 07/07/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Chiappetta, Mark J., Frankel, James P.
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US13/299,982
• Time in Patent Office: 1,075 Days
• Field of Search: 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

A navigational control system for an autonomous robot includes a transmitter subsystem having a stationary emitter for emitting at least one signal. An autonomous robot operating within a working area utilizes a receiving subsystem to detect the emitted signal. The receiver subsystem has a receiver for detecting the emitted signal emitted by the emitter and a processor for determining a relative location of the robot within the working area upon the receiver detecting the signal.

Claims

1. An autonomous robot system comprising:

a transmitter disposed within a working area and comprising an emitter configured to emit at least one signal visible to the autonomous robot system, wherein the transmitter has an active mode and a dormant mode, the transmitter configured to receive a mode selection signal from a computing device over a wireless communications link to switch between the dormant mode to the active mode; and

a mobile robot operating within the working area and comprising;

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 comprising;

a camera responsive to a remote surface above the working area; and

a processor connected to the camera and configured to determine a relative location of the robot within the working area based on input from the camera, wherein the camera is disposed on a top mounted component of the robot, substantially facing upward.

2. The autonomous robot system of claim 1, wherein the navigation system is configured to determine a relative location of the at least one signal relative to the remote surface, the navigation system maneuvering the robot relative to the signal location and the remote surface.

3. The autonomous robot system of claim 2, 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 is tunable to emit a sufficiently strong infrared signal to accommodate surfaces with varied reflectivity.

5. The autonomous robot system of claim 1, wherein the navigation system is configured to determine a relative location of the transmitter within the working area based on input from the camera and is configured to maneuver the robot relative to the transmitter.

6. The autonomous robot system of claim 5, wherein the transmitter further comprises a collimator for focusing and directing the emitted at least one signal.

7. 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.

8. The autonomous robot system of claim 1, wherein the navigation system is configured execute an operating behavior corresponding with the received coded signal.

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 mode selection signal is a coded pulse emitted by the mobile robot.

12. An autonomous robot system comprising:

a transmitter disposed within a working area and comprising an emitter configured to emit at least one signal visible to the autonomous robot system; and

a mobile robot operating within the working area and comprising;

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 comprising;

a camera responsive to a remote surface above the working area; and

a processor connected to the camera and configured to determine a relative location of the robot within the working area based on input from the camera, wherein the camera is disposed on a top mounted component of the robot, substantially facing upward;

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, and wherein the robot comprises an emitter disposed on the robot body and configured to emit the mode selection signal.