System and method for guiding a robot cleaner along a path

• US 9,280,158 B2
• Filed: 05/22/2013
• Issued: 03/08/2016
• Est. Priority Date: 06/07/2012
• Status: Active Grant

• Current Assignee: Versuni Holding BV
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Bron, Andries, Salverda, Lolke Klaas
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US14/405,520
• Publication Number:
  US 20150134144A1
• Time in Patent Office: 1,021 Days
• Field of Search: 701/2, 180/169, 180/167, 700/245, 700/218, 700/248, 318/568.11, 318/568.12
• US Class Current: 1/1
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70

Abstract

Disclosed is a method of guiding a mobile robot, comprising: providing a transmitter (110), and having said transmitter transmit a guide signal (300) into a spatially bounded guide signal reception field (302); providing a mobile robot (200) including two mutually adjacently disposed guide signal sensors (210a, 210b), each configured to generate a reference signal that reflects its reception of the guide signal; and moving the robot along a boundary portion (306) of the guide signal reception field while, based on said reference signals, maintaining a tracking state in which a first of said guide signal sensors (210a) is positioned substantially on a first side of said boundary portion, and a second of said guide signal sensors (210b) is positioned substantially on an opposite, second side of said boundary portion (306). Also disclosed is a system implementing the method.

Claims

1. A system, comprising:

a base station including a transmitter configured to transmit a guide signal into a guide signal reception field spatially bounded by at least one boundary portion; and

a mobile robot including;

a drive system configured to drive the robot across a floor;

two mutually adjacently disposed guide signal sensors, each of said sensors configured to generate a reference signal that reflects the sensor'"'"'s reception of the guide signal; and

a controller operably connected to the drive system and the guide signal sensors, the controller configured to;

control the drive system to track the robot along the at least one boundary portion of the guide signal reception field back to the base station based on said reference signals, wherein a first one of said guide signal sensors is positioned substantially inside of the boundary portion of the guide signal reception field and a second one of said guide signal sensors is positioned substantially outside of the boundary portion of the guide signal reception field.

2. The system according to claim 1, wherein the boundary portion has a width of less than 10 mm within which width an intensity of the guide signal drops at least 75%.

3. The system according to claim 1, wherein the transmitter includes an infrared light emitter configured to emit an infrared guide signal, and wherein each of the guide signal sensors includes an infrared light receiver sensitive to the infrared guide signal from the infrared light emitter.

4. The system according to claim 1, wherein, in an Operational condition of the robot on the floor, the guide signal sensors are disposed at a substantially same height above the floor.

5. The system according to claim 1, wherein the boundary portion, as seen in a top view perpendicular to the floor, is substantially straight.

6. The system according to claim 1, wherein the transmitter is configured to project the guide signal onto the floor, such that the guide signal reception field is at least partly defined by a reflection of the guide signal off the floor, and wherein the boundary portion, as seen in a top view perpendicular to the floor is curved.

7. The system according to claim 1, wherein the transmitter is configured to vary a position of the guide signal reception field relative to the transmitter with time, so as to vary the position of the boundary portion.

8. The system according to claim 1, wherein the transmitter is configured to vary a shape of the guide signal reception field with time, so as to vary the shape of the boundary portion.

9. The system according to claim 1, wherein the base Station includes a housing with a generally flat front side having at least part of the transmitter mounted therein, wherein the robot includes a housing with a generally flat front side having said guide signal sensors mounted thereon, and

wherein the transmitter is configured to produce a guide signal reception field at least one boundary portion extends substantially perpendicular to said front side of the housing of the base station, at least immediately adjacent said front side.

10. The system according to claim 1, wherein the mobile robot is a robotic vacuum cleaner.

11. A mobile robot for tracking a boundary portion of a spatially bounded guide signal reception field into which a guide signal is transmitted by a transmitter, said robot comprising:

a drive system configured to drive the robot across a floor;

two mutually adjacently disposed guide signal sensors, each of the sensors configured to generate a reference signal that reflects the reflects to the sensor'"'"'s of the guide signal; and

a controller that is operably connected to the drive system and the guide signal sensors, the controller configure to;

control the drive system to move the robot, based on said reference signals,

wherein a first one of said guide signal sensors is positioned substantially inside the boundary portion of the guided signal reception field and a second one of said guided signal sensors is positioned substantially outside the boundary portion of the guided signal reception field; and

then tracking the robot along the boundary portion of the guided signal field back to the base station.

12. The mobile robot according to claim 11, wherein each of the guide signal sensors includes an infrared light receiver sensitive to an infrared guide signal.

13. The mobile robot according to claim 11, wherein, in an operational condition of the robot on the floor, the guide signal sensors are disposed at a substantially same height above the floor.

14. The mobile robot according to claim 11, wherein the guide signal sensors are spaced apart less than 10 mm.

15. A method of guiding a mobile robot to a base station, the method comprising:

transmitting, a transmitter, a guide signal into a spatially bounded guide signal reception field;

generating by each of two mutually adjacently disposed guided signal sensors a reference signal that represents the sensor'"'"'s reception of the guided signal;

moving, by a controller, the robot to position a first one of said guide signal sensors substantially inside the boundary portion of the guided signal reception field and a second one of said guide signal sensors substantially outside of said boundary portion of the guided signal reception field, in order to achieve an optimal contrast in an intensity of the reference signals; and

then tracking, by the controller, the robot along the boundary portion of the guide signal field back to the base station.