Robot confinement

• US 9,958,871 B2
• Filed: 12/15/2016
• Issued: 05/01/2018
• Est. Priority Date: 01/24/2001
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Primary Examiner(s): Dhakal, Bickey
• Assistant Examiner(s): Bouziane, Said
• Application Number:
  US15/379,835
• Publication Number:
  US 20170097641A1
• Time in Patent Office: 502 Days
• Field of Search: None
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.

Claims

1. A robot system comprising:

a portable barrier signal device comprising an emitter configured to emit, primarily along an axis, an optical confinement signal to form a directed barrier; and

a mobile robot comprising

at least two wheels,

two motors, each motor being connected to a wheel of the at least two wheels for moving the robot on a surface,

a cleaner configured to clean the surface as the robot moves on the surface,

a detector configured to detect the directed barrier formed by the optical confinement signal, the detector having an omnidirectional field of view such that the detector detects the directed barrier independent of an orientation of the robot relative to the axis defining the directed barrier, and

a control unit to execute operations comprising

determining whether the detector detects the directed barrier, and,

upon determining that the detector detects the directed barrier, initiating one or more operations to move the robot until the optical confinement signal is undetected by the detector.

2. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises:

upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot until the directed barrier is undetected by the detector, and

initiating one or more operations to turn the robot in a chosen direction at least a predetermined amount after the directed barrier becomes undetected by the detector.

3. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to reverse a direction of travel of the robot.

4. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot away from the directed barrier.

5. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to alternately approach and avoid the directed barrier.

6. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot until the directed barrier is undetected by the detector.

7. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot in one direction at least twice before a final turning direction is chosen randomly.

8. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations based upon detecting gradient levels of the directed barrier at a plurality of orientations.

9. The robot system of claim 8, wherein initiating the one or more operations based upon detecting gradient levels of the directed barrier at a plurality of orientations comprises initiating one or more operations to turn in a chosen direction corresponding to an orientation of a minimum gradient level of the gradient levels.

10. The robot system of claim 1, wherein:

the optical confinement signal comprises a collimated optical confinement signal to form the directed barrier, and the portable barrier signal device further comprises another emitter configured to emit an omnidirectional optical signal,

the detector is a first detector,

the robot comprises a second detector to detect the omnidirectional optical signal, and

the operations executed by the control unit further comprise

determining whether the second detector detects the omnidirectional optical signal, and,

upon determining that the second detector detects the omnidirectional optical signal, initiating one or more operations such that the robot avoids the directed barrier.

11. The robot system of claim 10, wherein:

the optical confinement signal is a first optical confinement signal,

the portable barrier signal device further comprises an optical detector configured to detect a reflected portion of the first optical confinement signal, and

the emitter of the portable barrier signal device is configured to emit a second optical confinement signal upon failure of the optical detector to detect the first optical confinement signal.

12. The robot system of claim 1, wherein:

the detector is configured to receive the optical confinement signal along a plane parallel to the surface and at a height of the omnidirectional field of view, and

the robot includes an optical blocking device to block or reject optical signals substantially above or substantially below the plane.

13. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical signal is undetected by the detector comprises initiating one or more operations to cause the robot to follow an obstacle defined by the directed barrier by keeping the directed barrier to one side of the robot.

14. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations to turn the robot successively in one direction, then in a randomly determined direction.

15. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations to rotate the robot until the optical confinement signal is undetected by the detector.

16. The robot system of claim 1, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations to move the robot away from the optical confinement signal over a predetermined distance or for a predetermined time.

17. The robot system of claim 1, wherein:

the optical confinement signal is an infrared signal, and

initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations such that the robot avoids the directed barrier when the detector detects a detectable infrared radiation level.

18. The robot system of claim 17, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations to cause the robot to rotate until the infrared signal is undetected by the detector.

19. The robot system of claim 18, wherein initiating the one or more operations to move the robot until the optical confinement signal is undetected by the detector comprises initiating one or more operations to turn the robot an additional distance upon the infrared signal becoming undetected by the detector.

20. A robot system comprising:

a portable barrier signal device comprising an emitter configured to emit, primarily along an axis, an optical confinement signal to form a directed barrier; and

a mobile robot comprising

at least two wheels,

two motors, each motor being connected to a wheel of the at least two wheels for moving the robot on a surface,

a cleaner configured to clean the surface as the robot moves on the surface,

a detector configured to detect the directed barrier formed by the optical confinement signal, and

a control unit to execute operations comprising

determining whether the detector detects the directed barrier, and,

upon determining that the detector detects the directed barrier, initiating one or more operations to cause the robot to avoid the directed barrier by turning the robot, until the optical confinement signal becomes undetected by the detector, by an amount to prevent the robot from re-encountering the optical confinement signal.

21. The robot system of claim 20, wherein initiating the one or more operations to cause the robot to avoid the directed barrier by turning the robot comprises:

upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot until the directed barrier is undetected by the detector, and

initiating one or more operations to turn the robot in a chosen direction at least a predetermined amount after the directed barrier becomes undetected by the detector.

22. The robot system of claim 20, wherein initiating the one or more operations to cause the robot to avoid the directed barrier by turning the robot comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to reverse a direction of travel of the robot.

23. The robot system of claim 20, wherein initiating the one or more operations to cause the robot to avoid the directed barrier by turning the robot comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to turn the robot away from the directed barrier.

24. The robot system of claim 20, wherein initiating the one or more operations to cause the robot to avoid the directed barrier by turning the robot comprises, upon determining that the detector detects the directed barrier, initiating one or more operations to alternately approach and avoid the directed barrier.

25. The robot system of claim 20, wherein the detector is configured to detect the directed barrier independent of an orientation of the robot relative to the axis defining the directed barrier.