Celestial navigation system for an autonomous vehicle

• US 8,972,052 B2
• Filed: 11/03/2009
• Issued: 03/03/2015
• Est. Priority Date: 07/07/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Chiappetta, Mark Joseph
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US12/611,814
• Publication Number:
  US 20100082193A1
• Time in Patent Office: 1,946 Days
• Field of Search: 307/149, 307/104
• 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 1/0242 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 1/0276 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 50/10 using inductive coupling
• 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 navigation control system for an autonomous vehicle comprises a transmitter and an autonomous vehicle. The transmitter comprises an emitter for emitting at least one signal, a power source for powering the emitter, a device for capturing wireless energy to charge the power source, and a printed circuit board for converting the captured wireless energy to a form for charging the power source. The autonomous vehicle operates within a working area and comprises a receiver for detecting the at least one signal emitted by the emitter, and a processor for determining a relative location of the autonomous vehicle within the working area based on the signal emitted by the emitter.

Claims

1. A navigation control system for an autonomous vehicle, the system comprising:

a transmitter comprising;

a first emitter for emitting a first signal;

a second emitter for emitting a second signal;

a power source for powering both the first emitter and the second emitter;

an antenna for capturing wireless energy; and

a printed circuit board for converting the captured wireless energy to a form for charging the power source powering both the first emitter and the second emitter; and

an autonomous vehicle operating within a working area, the autonomous vehicle having a receiving system comprising;

a receiver for detecting the first and second signals; and

a processor for determining a relative location of the autonomous vehicle within the working area based on the first and second signals, wherein a source of the wireless energy is located on the autonomous vehicle.

2. The system of claim 1, wherein the wireless energy is RF energy.

3. The system of claim 1, wherein the wireless energy is magnetoresonance energy.

4. The system of claim 2, wherein the antenna is an RF antenna.

5. The system of claim 3, wherein the antenna is a capture coil.

6. The system of claim 1, wherein a source of the wireless energy is located on a base station for the remote vehicle.

7. The system of claim 1, wherein the wireless energy is naturally available in an environment of the transmitter.

8. The system of claim 7, wherein the first and second signals are coded.

9. The system of claim 8, wherein the printed circuit board codes the first and second signals.

10. A method performed by an autonomous vehicle for controlling navigation within one or more work areas, the method comprising:

receiving first and second signals emitted by first and second emitters of a transmitter, each of the first and second emitters being powered by a power source of the transmitter;

localizing the autonomous vehicle with respect to the transmitter using the first and second signals, and, after localizing the autonomous vehicle, charging the power source of the transmitter using wireless energy; and

navigating the autonomous vehicle within the one or more work areas using the first and second signals.

11. The method of claim 10, wherein the wireless energy is RF energy.

12. The method of claim 10, wherein the wireless energy is magnetoresonance energy.

13. The method of claim 11, wherein the transmitter comprises an RF antenna configured to capture the wireless energy.

14. The method of claim 12, wherein the transmitter comprises a capture coil configured to capture the wireless energy.

15. The method of claim 10, wherein the first and second signals are coded.

16. The method of claim 15, wherein the transmitter comprises a printed circuit board configured to code the first and second signals.