Robot Confinement

• US 20140222251A1
• Filed: 02/12/2014
• Published: 08/07/2014
• Est. Priority Date: 01/24/2001
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Jones, Joseph L., Mass, Philip R.
• Granted Patent: US 9,582,005 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• 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 navigation system, comprising:

a robot having a signal receiver oriented in a manner to have an omnidirectional field of view and configured to receive both directed signals and diffuse signals;

a portable barrier signal transmitting device for robot navigation, comprising;

at least one signal emitter that emits a first, directed signal; and

at least one omnidirectional signal emitter that emits a diffuse signal region,

the directed signal and the diffuse signal region overlapping in a plane parallel to ground level such that a signal receiver on the robot may detect either one or both of the directed signal and the diffuse signal region; and

a control system configured to control one or more of the signal emitters, the control system being configured to;

turn on one or both of the signal emitters in response to a signal received from the robot; and

turn one or both of the signal emitters off after a predetermined amount of time.

2. The signal emitter system of claim 1, wherein the at least one signal emitter that emits a first, directed signal comprises a light beam emitter that emits a modulated directed light beam and the at least one omnidirectional signal emitter that emits a diffuse signal region comprises an omnidirectional diffuse light region emitter that emits a modulated diffuse light region.

3. The signal emitter system of claim 1, wherein the first, directed signal is a modulated signal in an infrared frequency.

4. The signal emitter system of claim 1, wherein at least one of the signal emitters comprises an electromagnetic signal emitter that emits radio, x-ray or microwave signals.

5. The signal emitter system of claim 1, wherein the signal emitter is responsive to a control system that communicates directly with one or more signal emitters allowing a cycling of work spaces.

12. The robot confinement system of claim 1, where said robot further comprises a plurality of directed barrier detectors.

6. A robot confinement system, comprising:

a portable barrier signal transmitting device that includes at least a primary emitter, said primary emitter being operative to emit a confinement beam primarily along an axis, said axis of said emitted confinement beam defining a directed barrier;

a mobile robot;

said mobile robot comprising;

a motor drive that independently drives each of at least two wheels of the robot;

a detector operative to detect said directed barrier formed by said emitted confinement beam; and

a control unit configured to control said motor drive to avoid said directed barrier formed by said emitted confinement beam upon detection of said directed barrier formed by said emitted confinement beam and cause the robot to reverse direction until said directed barrier formed by said emitted confinement beam falls below a threshold.

7. The robot confinement system of claim 6, wherein the threshold comprises a threshold at which the beam is no longer detected.

8. The robot confinement system of claim 6, wherein said portable barrier signal transmitting device further comprises a secondary emitter, wherein the primary emitter is operative to transmit a collimated confinement beam to form said directed barrier and the secondary emitter is operative to transmit a substantially omni-directional beam.

9. The robot confinement system of claim 6, wherein the directed barrier formed by said emitted confinement beam emitted by said primary emitter is a modulated signal in an infrared frequency.

10. The robot confinement system of claim 9, wherein operation of said signal directed barrier detector is substantially omni-directional.

11. The robot confinement system of claim 10, wherein said mobile robot includes a shell and wherein said directed barrier detector is located on top of the shell of said robot such that operation of said directed barrier detector is not substantially affected by the shell of said robot.