Autonomous mobile work system comprising a variable reflectivity base station

• US 9,829,891 B2
• Filed: 03/17/2014
• Issued: 11/28/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Inventors: Smith, Steven W., Wolf, Micah, Guadiz, Maynard S.
• Primary Examiner(s): Nguyen, Sang
• Application Number:
  US14/776,138
• Publication Number:
  US 20160026185A1
• Time in Patent Office: 1,352 Days
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means

Abstract

The disclosed technology relates to a method and system for localizing and confining an autonomous mobile work system or systems for performing work in a user defined space is disclosed. The system can include two or more variable reflective base stations at first and second locations that can modify their optical or electromagnetic reflectivity based upon either an external command via wired or wireless communications interface, or automatically on a regular or asynchronous time schedule under programmed or user settable control. The system also can include one or more autonomous mobile work systems capable of sensing the state of the variable reflectance base stations via sensors such as electromagnetic or optical sensors capable of measuring distance to the reflective base stations.

Claims

1. An autonomous mobile work system for performing work in a user selected area, the system comprising:

a mobile work device including a sensor configured to locate a variable reflectivity base station and measure the distance to said base station; and

at least one variable reflectivity base station,

wherein the mobile work device is configured to

transmit a first command that changes an optical and/or an electromagnetic reflectivity state of the at least one variable reflectivity base station;

determine a first reflectivity measurement;

transmit a second command that changes the optical and/or electromagnetic reflectivity state of the at least one variable reflectivity base station;

determine a second reflectivity measurement; and

identify the at least one variable reflectivity base station based on the first reflectivity measurement and the second reflectivity measurement.

2. The autonomous mobile work system of claim 1, comprising a plurality of variable reflectivity base stations, wherein at least one of the plurality of variable reflectivity base stations is a charging base station.

3. The autonomous mobile work system of claim 1, wherein the variable reflectivity base station changes an optical reflectivity state.

4. The autonomous mobile work system of claim 1, wherein the variable reflectivity base station changes an electromagnetic reflectivity state.

5. The autonomous mobile work system of claim 1, wherein the first command comprises at least one of an external command and a predetermined time schedule.

6. The autonomous mobile work system of claim 1, wherein the second command comprises at least one of an external command and a predetermined time schedule.

7. The autonomous mobile work system of claim 1, wherein the mobile work device includes a wireless communication interface, and wherein the mobile work device is configured to transmit at least one of the first command and the second command via the wireless communication interface.

8. The autonomous mobile work system of claim 1, wherein the at least one variable reflectivity base station includes a wireless communication interface, and wherein the at least one variable reflectivity base station is configured to receive wireless signals from the mobile work device.

9. The autonomous mobile work system of claim 1, wherein the mobile work device includes a variable reflectivity indicator, the variable reflectivity indicator being configured to change its optical and/or electromagnetic reflectivity state.

10. The autonomous mobile work system of claim 9, wherein the at least one variable reflectivity base station comprises

a sensor configured to detect a reflectivity of the variable reflectivity indicator of the mobile work device, and to identify the mobile work device based at least in part on the detected reflectivity.