System and method for confinement of a robotic device

• US 9,764,473 B1
• Filed: 03/30/2015
• Issued: 09/19/2017
• Est. Priority Date: 10/01/2014
• Status: Active Grant

• Current Assignee: Bobsweep, Inc.
• Original Assignee: Bobsweep, Inc.
• Inventors: Ebrahimi Afrouzi, Ali, Ebrahimi Afrouzi, Masih, Mehrnia, Soroush
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US14/673,656
• Time in Patent Office: 904 Days
• Field of Search: 901 1
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/49 Protective device

Abstract

The disclosure relates to a system and/or method to create or otherwise define one or more virtual barriers for confining or controlling an autonomous robotic device substantially within one or more portion of one or more selected working areas, for example, to prohibit entrance of certain areas. The system and/or method may use a set of beacon transmitters that emit time-stamped signals, which are received by one or more robots and used to calculate the robotic device'"'"'s distance from such beacons.

Claims

1. A method for generating, via one or more processors, a virtual barrier to confine movement of a robotic device, comprising:

acquiring, at the robotic device, one or more time-stamped signals transmitted by a beacon; and

generating, using the acquired one or more time-stamped signals, a measure of distance of the robotic device from the beacon, the one or more processors generating, according to the measure of distance, a virtual barrier to restrict movement of the robotic device relative to the virtual barrier; and

restrictively enabling movement of the robotic device to within a circular virtual barrier, a linear virtual barrier, or any combination thereof based, at least in part, on omni-directional transmission of signals of different frequencies.

2. The method of claim 1, wherein the one or more processors executes computer-implemented instructions are additionally to bring about the robotic device to restrict or modify a movement path of the robotic device in response to approaching the virtual barrier.

3. The method of claim 2, further comprising:

synchronizing at least one clock of the robotic device with a clock of the beacon, the transmitted one or more signals being time-stamped by the beacon using the clock of the beacon.

4. The method of claim 1, further comprising:

the one or more processors determining distance between the robotic device and the beacon by computing, via the one or more processors, one or more values of elapsed time between a transmission time of one or more time-stamped signals transmitted by the beacon and a time at which the one or more time-stamped signals were acquired at the robotic device.

5. The method of claim 4, further comprising:

the robotic device moving in a direction away from one or more points estimated, at least in part, by computing the one or more values of elapsed time.

6. The method of claim 4, wherein the one or more values of elapsed time corresponds to an estimated distance between the robotic device and the beacon, the estimated distance to be user-adjustable.

7. The method of claim 4, further comprising:

a controller controlling movement of the robotic device to operate within a maximum distance, the maximum distance corresponding, at least in part, to the one or more values of elapsed time.

8. The method of claim 7, further comprising:

receiving an adjustment, from a user interface, of the maximum distance between the robotic device and the beacon.

9. The method of claim 8 further comprising:

restricting movement of the robotic device so as to avoid collision with the beacon based, at least in part, on one or more predefined minimum values of elapsed time between a transmission time of one or more time-stamped signals transmitted by the beacon and a time at which the one or more time-stamped signals were acquired at the robotic device.

10. The method of claim 1, further comprising:

the beacon transmitting electromagnetic signals having carrier frequencies that differ from one another.

11. The method of claim 10, further comprising:

responsive to detecting a plurality of the signals having carrier frequencies that differ from one another, the robotic device comparing a computed value of elapsed time, between a transmission time of one or more time-stamped signals transmitted by the beacon and a time at which the one or more time-stamped signals were acquired at the robotic device, for corresponding ones of signals having carrier frequencies so as to compute a difference value between calculated elapsed time for the corresponding ones of signals having carrier frequencies, the one or more processors configuring, responsive to the comparing, the robotic device to avoid traversing a horizontal line, the horizontal line determined, at least in part, by utilizing the computed value of elapsed time of the ones of the signals having different carrier frequencies.

12. The method of claim 1, wherein the restrictively enabled robotic device movement accords with one of a circular virtual barrier or a linear virtual barrier.

13. The method of claim 1, wherein the acquiring further comprises acquiring a sonar signal at the robotic device.

14. The method of claim 1, wherein the acquiring further comprises acquiring a radiofrequency signal, a laser signal, an infrared signal, or any combination thereof.

15. A system for generating a virtual barrier to restrict movement of a robotic device to an area, comprising:

a receiver to acquire one or more time-stamped signals transmitted by a beacon, wherein the beacon comprises a plurality of emitters to transmit substantially omni-directionally a plurality of signals comprising different frequencies, to restrictively enable the robotic device movement within a circular virtual barrier or a linear virtual barrier; and

one or more processors to determine a distance of the robotic device to the beacon based, at least in part, on the one or more acquired time-stamped signals,

the one or more processors to restrict movement of the robotic device to remain within the virtual barrier.

16. The system of claim 15, wherein the one or more processors executes computer-implemented instructions to bring about restricting or modifying the movement of the robotic device responsive to encountering the virtual barrier.

17. The system of claim 15, the robotic device comprising:

a chassis including a set of wheels;

at least one motor to drive the wheels; and

at least one clock.

18. The system of claim 17 wherein the one or more processors are to control the robotic device based, at least in part, on restricting movement of the robotic device from moving into one or more areas associated with one or more points calculated according to one or more computed upper threshold value of elapsed time, wherein the elapsed time is to be computed from a difference between a transmission time of one or more time-stamped signals transmitted by a beacon and a time at which the one or more time-stamped signals were acquired at the robotic device, and wherein the upper threshold operates to restrictively enclose robotic device movement to within a certain distance from the beacon.

19. The system of claim 17, wherein the at least one clock is to synchronize with a clock of the beacon, the one or more time-stamped signals transmitted by the beacon being based the beacon based, at least in part, on a signal from the at least one clock.

20. The system of claim 19 wherein the one or more processors brings about movement of the robotic device in a direction away from one or more points estimated, at least in part, on the elapsed time computed from the difference between the transmission time of the one or more time-stamped signals transmitted by the beacon and the time at which the one or more time-stamped signals were acquired at the robotic device.

21. The system of claim 20, wherein the one of the elapsed time, computed from the difference between the transmission time of the one or more time-stamped signals transmitted by the beacon and the time at which the one or more time-stamped signals were acquired at the robotic device, or the corresponding distance is to prevent contact between the robotic device and the beacon.

22. The system of claim 15 wherein the one or more processors are to determine a distance between the robotic device and the beacon based, at least in part, on a measurement of elapsed time between transmission of a time-stamped signal by the beacon and acquisition of the one or more time-stamped signals by the robotic device.

23. The system of claim 22, wherein the elapsed time, computed from the difference between the transmission time of the one or more time-stamped signals transmitted by the beacon and the time at which the one or more time-stamped signals were acquired at the robotic device, or a corresponding distance between the robotic device and the beacon is to be user-adjustable.

24. The system of claim 15, wherein at least some of the one or more time-stamped signals transmitted by the beacon utilize frequencies different from one another.

25. The system of claim 24, wherein upon detecting the frequencies different from one another the robotic device compares elapsed time, computed from the difference between the transmission time of the one or more time-stamped signals transmitted by the beacon and the time at which the one or more time-stamped signals were acquired at the robotic device, for like signal frequencies, and generates a difference between computed elapsed times for one or more of the frequencies different from one another, the one or more processors to prohibit the robotic device from crossing a virtual line, the virtual line indicating one or more estimated locations at which a differences in between the transmission time of the one or more time-stamped signals transmitted by the beacon and the time at which the one or more time-stamped signals were acquired at the robotic is to be substantially 0.0 seconds.

26. The system of claim 15, wherein a user selection permits restrictive robotic device movement to accord with the circular virtual barrier or the linear virtual barrier.

27. The system of claim 15, wherein the beacon comprises a plurality of emitters to transmit substantially omni-directionally a plurality of signals comprising different frequencies, to restrictively enable the robotic device movement outside of a circular virtual barrier.

28. The system of claim 15, wherein the beacon is to transmit a sonar signal.

29. The system of claim 15, wherein the beacon is to transmit a radiofrequency signal, a laser signal, an infrared signal, or any combination thereof.