AUTONOMOUS MOBILE WORK SYSTEM COMPRISING A VARIABLE REFLECTIVITY BASE STATION

• US 20160026185A1
• Filed: 03/17/2014
• Published: 01/28/2016
• 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: Guadiz, Maynard S., Smith, Steven W., Wolf, Micah
• Granted Patent: US 9,829,891 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 designated area, the system comprising:

at least one variable reflectivity base station configured to change its reflectivity state in response to a command; and

a mobile work device including at least one sensor configured to locate the at least one variable reflectivity base station, wherein the mobile work device determines a distance between the mobile work device and the at least one variable reflectivity base station.

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

3. The autonomous mobile work system of claim 2, wherein the at least one variable reflectivity base station includes a sensor configured to detect a reflectivity of the variable reflectivity indicator of the mobile work device.

4. 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 a command that causes the at least one variable reflectivity base station to change its optical and/or electromagnetic reflectivity state.

5. 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.

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

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

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

6-11. -11. (canceled)

12. 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.

13. The autonomous mobile work system of claim 12, 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.

14. The autonomous mobile work system of claim 12, 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.

24. The autonomous mobile work system of claim 12, wherein the variable reflectivity base station changes an optical reflectivity state.

25. The autonomous mobile work system of claim 12, wherein the variable reflectivity base station changes an electromagnetic reflectivity state.

15-16. -16. (canceled)

17. A method of determining a location of an autonomous mobile work device, the method comprising:

providing a first variable reflectivity base station, and a second variable reflectivity base station;

providing a location of the first variable reflectivity base station and a location of the second variable reflectivity base station to the autonomous mobile work device;

changing a reflectivity state of the first variable reflectivity base station;

calculating a first distance between said first variable reflectivity base station and the autonomous mobile work system;

changing the reflectivity state of the second variable reflectivity base station;

calculating a second distance between the second variable reflectivity base station and the autonomous mobile work system; and

calculating the location of the autonomous mobile work system based on the first and second calculated distances.

26. The method of determining the location of an autonomous mobile work device of claim 17, wherein changing the reflectivity state of the first and second variable reflectivity base stations comprises changing an electromagnetic reflectivity state.

27. The method of determining the location of an autonomous mobile work device of claim 17, comprising

providing an orientation of the first variable reflectivity base station and an orientation of the second variable reflectivity base station to the autonomous mobile work device;

changing the reflectivity state of the first variable reflectivity base station;

calculating an angle between the first variable reflectivity base station and the autonomous mobile work system;

changing the reflectivity state of the second variable reflectivity base station;

calculating a second angle between the second variable reflectivity base station and the autonomous mobile work system; and

calculating the location of the autonomous mobile work system based at least in part on the first and second calculated angles.

28. The method of determining the location of an autonomous mobile work device of claim 17, comprising:

calculating the location of the autonomous mobile work system based on the provided location of the first variable reflectivity base station and the provided location of the second variable reflectivity base station.

29. The method of determining the location of an autonomous mobile work device of claim 17, wherein changing the reflectivity state of the first variable reflectivity base station and changing the reflectivity state of the second variable reflectivity base station comprises changing an optical and/or an electromagnetic reflectivity state.

18-20. -20. (canceled)