Autonomous mobile robot system

• US 9,229,454 B1
• Filed: 10/02/2013
• Issued: 01/05/2016
• 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:
  US14/044,346
• Time in Patent Office: 825 Days
• Field of Search: 700/245
• US Class Current: 1/1
• 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 mobile robot system comprising:

a transmitter configured to be placed in a transition region between adjacent first and second working areas and comprising an emitter arranged to direct a signal into the first and second working areas, the signal marking the transition region; and

an autonomous coverage robot configured to operate within the first and second working areas, and comprising;

a receiving subsystem responsive to the signal directed by the emitter so as to detect the transition region; and

a drive system configured to

maneuver the robot over a surface within the first working area in a cleaning mode in which the robot executes a first cleaning behavior and detects the transition region without traversing the transition region; and

to then

maneuver the robot from the first working area to the second working area in a migration mode where the robot detects the transition region and passes through the transition region.

2. The system of claim 1, wherein the transmitter is configured to be positioned within the frame of a doorway between the first and second working areas.

3. The system of claim 2, wherein the transmitter is configured to be placed at the top of the frame of the doorway and to project the signal downward into both the first and second working areas.

4. The system of claim 1, wherein the signal comprises two distinct signals, each of the distinct signals directed in to a respective one of the first and second working areas.

5. The system of claim 4, wherein the receiving subsystem of the robot is configured to distinguish between the distinct signals, the robot being configured to determine which of the working areas the robot is within based on a particular distinct signal.

6. The system of claim 1 further comprising a charging station with which the robot is configured to dock for charging, the robot comprising a controller responsive to a power level of the robot and configured to direct the drive system to the charging station in response to a low power level.

7. The system of claim 6, wherein the controller is configured to direct the drive system to maneuver the robot through the transition region by maneuvering the robot toward the transmitter, and once through the transition region, to maneuver the robot to the charging station.

8. The system of claim 1, wherein the drive system is configured to determine a relative location of the transmitter based on input from the receiving subsystem and is configured to maneuver the robot relative to the transmitter.

9. The system of claim 8, wherein the transmitter further comprises a collimator for focusing and directing the directed signal.

10. The system of claim 1, wherein the directed signal is coded and includes a unique identifier, and wherein the drive system is configured to identify the coded signal from the unique identifier.

11. The system of claim 10, wherein the drive system is configured execute an operating behavior as a function of the identified coded signal.

12. The system of claim 1, wherein the robot comprises a floor cleaner.

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

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

15. An autonomous mobile robot system comprising:

a transmitter comprising an emitter arranged to direct a signal into a first working area; and

an autonomous coverage robot comprising;

a receiving subsystem responsive to the directed signal of the emitter; and

a drive system configured to

maneuver the robot in a cleaning mode in which the robot continues to execute a first cleaning behavior within the first working area in response to detection of the directed signal by the receiving subsystem; and

to

maneuver the robot in a migration mode in which the robot moves toward the transmitter in response to detection of the directed signal, so as to pass from the first working area through a doorway into a second working area.

16. The system of claim 15, wherein the drive system is configured to maneuver the robot, in the migration mode, to follow the directed signal to pass from the first working area into the second working area.

17. The system of claim 15, wherein the transmitter is positioned in the doorway.

18. The system of claim 15, wherein the drive system is further configured to maneuver the robot, after passing through the doorway, to execute a second cleaning behavior within the second working area.