Method for establishing a desired area of confinement for an autonomous robot and autonomous robot implementing a control system for executing the same

• US 8,428,776 B2
• Filed: 06/18/2010
• Issued: 04/23/2013
• Est. Priority Date: 06/18/2009
• Status: Active Grant

• Current Assignee: Futuregen Technologies Incorporated
• Original Assignee: Michael Todd Letsky
• Inventors: Letsky, Michael Todd
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US12/818,590
• Publication Number:
  US 20100324731A1
• Time in Patent Office: 1,040 Days
• Field of Search: 700/245
• US Class Current: 700/245
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• 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 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method of establishing an area of confinement and an autonomous robot for performing a task within the area of confinement. In one aspect, the invention can be a method of defining an area of confinement comprising: positioning the autonomous robot at a starting point P₀ and recording the starting point P₀ as a reference point within a memory device; moving the autonomous robot from the starting point P₀ about a perimeter of the area of confinement, wherein said movement of the autonomous robot is controlled by a user; continuously tracking location of the autonomous robot relative to the reference point P₀ during said movement using a distance-traveled measuring mechanism and a directional indicating instrument; recording the tracked location as a map in the memory device; and upon detecting that the map includes a closed-geometry, defining the closed-geometry as the perimeter of the area of confinement within the memory device.

Claims

1. A method of defining an area of confinement for an autonomous robot comprising;

a) positioning the autonomous robot at a starting point P₀ and recording the starting point P₀ as a reference point within a memory device of the autonomous robot;

b) moving the autonomous robot from the starting point P₀ about a perimeter of the area of confinement in a desired direction, wherein said movement of the autonomous robot is controlled by a user;

c) continuously tracking location of the autonomous robot relative to the reference point P_o during said movement using a distance-traveled measuring mechanism and a directional indicating instrument;

d) recording the tracked location of the autonomous robot as a map in the memory device; and

e) upon detecting that the map includes a dosed-geometry, defining the closed-geometry as the perimeter of the area of confinement within the memory device;

wherein the area of confinement, is defined without marking the perimeter of the area of confinement with a physical barrier.

4. The method of claim 1 wherein recording the starting point P₀ as a reference point within the memory device of the autonomous robot is accomplished by the user sending a signal to the autonomous robot via a hand-held remote control, a PC, a PDA or a Smart Phone.

5. The method of claim 4 wherein the hand-held remote control, PC, PDA or Smart Phone connects to the autonomous robot via Wi-Fi and displays the map recorded in the memory device.

7. The method of claim 1 further comprising:

wherein the autonomous robot is configured to move at a constant velocity and the memory device is configured with an algorithm that enables the memory device to continuously record a current location of the autonomous robot with respect to the point P₀; and

wherein the memory device records the tracked location as the map in terms of vectors having, a distance and an angle such that a mapping of any single vector is initiated by a substantial change in direction of the autonomous robot.

8. The method of claim 1, wherein step e) comprises the autonomous robot automatically recognizing when the map includes the closed-geometry and the area of confinement is defined by the autonomous robot prompting the user to confirm that the perimeter of the area of confinement has been properly established.

9. The method of claim 1 wherein the autonomous robot is a lawn mower and the area of confinement surrounds a yard.

2. The method of claim I further comprising:

f) positioning the autonomous robot at a point P₁ along a perimeter of an area of exclusion and recording the point P₁ as a location relative to the reference point P₀, wherein the point P₁ is located within the perimeter of the area of confinement;

g) moving the autonomous robot from the point P₁ about the perimeter of the area of exclusion in a desired direction, wherein said movement of the autonomous robot is controlled by the user;

h) continuously tracking location of the autonomous robot relative to the reference point P₀ during, said movement using a distance-traveled measuring mechanism and a directional indicating instrument; and

i) recording;

the tracked location of the autonomous robot as a portion of the map in the memory device.

3. The method of claim 2 wherein steps f) through i) are repeated at different locations within the area of confinement in order to define a plurality of areas of exclusion.

6. The method of claim wherein the starting point P₀ is stored within the memory device as a coordinate in an XY or Xθ

coordinate system, the coordinate becoming the reference point upon which all subsequent locations of the autonomous robot are based.

10. An autonomous robot comprising:

a housing, a control system, and a plurality of drive wheels, the control system comprising a distance-traveled measuring mechanism, a directional indicating instrument, a memory device, a data receiving port for receiving signals from an external device, and a central processing unit; and

the central processing unit configured to (1) track the location of the autonomous robot relative to a reference point based on output generated by the distance-traveled measuring mechanism and the directional indicating instrument during user-controlled movement of the autonomous robot around a perimeter of an area of confinement using the external device, wherein the perimeter of the area of confinement is not marked by a physical barrier;

(2) record the tracked location of the autonomous robot as a map within the memory device; and

(3) define a closed-geometry formed by the tracked location as the perimeter of the area of confinement within the memory device.

11. The autonomous robot of claim 10 wherein the distance-traveled measuring mechanism is a timer and the directional indicating instrument is a compass.

12. The autonomous robot of claim 10 wherein when the autonomous robot is located within the perimeter of the area of confinement and put into an operating mode, the autonomous robot performs a task without exiting the perimeter of the area of confinement,

13. The autonomous robot of claim 10 further comprising:

wherein the autonomous robot has four different modes including a setup mode, an exclusion area mode, a pattern selection mode and an operational mode, and

wherein when the autonomous robot is in the setup mode, the perimeter of the area of confinement is defined within the memory device,

14. The autonomous robot of claim 13 wherein when the autonomous robot is in the exclusion area mode, the closed-geometry formed by the tracked location is defined as a perimeter of an area of exclusion within the memory device.

15. The autonomous robot of claim 13 wherein when the autonomous robot is in the pattern selection mode, a pattern of movement is defined for the autonomous robot to follow when the autonomous robot is in the operational mode and within the perimeter of the area of confinement.

16. The autonomous robot of claim 10 wherein the external device is one of a remote control, a PC, a PDA or a Smart Phone that communicates with the data receiving port via Wi-Fi, IR or RF communication.

17. The autonomous robot of claim 10 further comprising a docking station comprising a hollow housing that is sized and configured to contain the autonomous robot therein, the housing having an opening through which the autonomous robot can pass into the housing.

18. The autonomous robot of claim 17 wherein the clocking station serves as a communication gateway between the external device and the autonomous robot.

19. The autonomous robot of claim 17 wherein the docking, station serves as a battery charging, station for the autonomous robot.

20. A method of defining an area of confinement for an autonomous robot comprising;

a) positioning the autonomous robot at a starting point P₀ and recording the starting point P₀ as a reference point within a memory device of the autonomous robot, wherein the starting point P₀ is recorded upon the autonomous robot receiving a record. starting point signal from an eternal device;

b) moving the autonomous robot from the starting point P₀ about a perimeter of the area of confinement in a desired direction, wherein said movement of the autonomous robot is controlled by a user transmitting signals from the external device which enables the user to move and steer the autonomous robot in a desired direction;

c) continuously tracking location of the autonomous robot relative to the reference point P₀ during said movement;

d) recording the tracked location of the autonomous robot as a map in the memory device; and

e) upon detecting that the map includes a closed-geometry, defining the closed-geometry as the perimeter of the area of confinement within the memory device.