Robot confinement

• US 8,659,255 B2
• Filed: 06/30/2010
• Issued: 02/25/2014
• 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): GLASS, ERICK DAVID
• Application Number:
  US12/827,016
• Publication Number:
  US 20100268384A1
• Time in Patent Office: 1,336 Days
• Field of Search: 318/567, 318/568.12, 318/16, 900/1
• US Class Current: 318/567
• 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 robot confinement system includes a portable housing and a mobile robot. The portable housing includes a first detector operable to detect a presence of the mobile robot in a field of detection, and an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection. The mobile robot is operable to move on a surface to clean the surface and includes a controller operable to control a movement path of the mobile robot on the surface. The mobile robot further includes a second detector operable to detect the first signal emitted by the portable housing. The controller of the mobile robot is operable to change the movement path of the mobile robot in response to detection of the first signal.

Claims

1. A robot confinement system, comprising:

a portable housing, including;

a first detector operable to detect a presence of a mobile robot in a field of detection; and

an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection; and

the mobile robot, including;

a shell;

a chassis including at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot on a surface;

a cleaner operable to clean the surface as the mobile robot moves on the surface;

a controller operable to control the at least one motor to control a movement path of the mobile robot on the surface; and

a second detector operable to detect the first signal,

wherein the controller is operable to change the movement path of the mobile robot in response to detection of the first signal, and wherein the mobile robot is operable to generate an indication that is detectable by the first detector, and wherein the first detector is oprable to detect the indication for detecting the presence of the mobile robot in the field of detection.

2. The robot confinement system as set forth in claim 1, wherein the first detector is operable to detect a modulated signal for detecting the presence of the mobile robot in the field of detection.

3. The robot confinement system as set forth in claim 1, wherein the field of detection extends generally linearly from the portable housing on the surface.

4. The robot confinement system as set forth in claim 3, wherein the portable housing includes a power selector operable to variably set a length of the field of detection.

5. The robot confinement system as set forth in claim 3, wherein the controller is operable to change the movement path of the mobile robot to prevent the mobile robot from crossing the field of detection in response to detection of the first signal.

6. The robot confinement system as set forth in claim 1, wherein

the portable housing is operable to emit a second signal that is detectable by the mobile robot when the mobile robot is within a predetermined distance of the portable housing,

the second detector is operable to detect the second signal, and

the controller is operable to change the movement path of the mobile robot to prevent the mobile robot from physically contacting the portable housing in response to detection of the second signal.

7. The robot confinement system as set forth in claim 6, wherein the portable housing includes a second emitter that emits the second signal.

8. The robot confinement system as set forth in claim 1, wherein the emitter is operable to automatically turn off after a predetermined time period.

9. The robot confinement system as set forth in claim 1, wherein the portable housing includes a receiver operable to receive a smart house signal that changes an on/off status of the portable housing.

10. The robot confinement system as set forth in claim 1, wherein the mobile robot further includes:

a bump sensor operable to detect a physical contact with the shell as the mobile robot moves on the surface; and

a cliff sensor operable to detect a falling edge of the surface as the mobile robot moves toward the falling edge,

wherein the controller is operable to change the movement path of the mobile robot in response to detection of the physical contact and in response to detection of the falling edge.

11. A method for confining a mobile robot with a portable housing, the method comprising;

moving the mobile robot along a movement path on a surface and cleaning the surface with the mobile robot;

detecting, with the portable housing, a presence of the mobile robot in a field of detection;

emitting, with the portable housing, a first signal in response to detection of the presence of the mobile robot in the field of detection;

detecting, with the mobile robot, the first signal emitted by the portable housing;

changing, with the mobile robot, the movement path of the mobile robot in response to detection of the first signal;

generating, with the mobile robot, an indication that is detectable by the portable housing when the mobile robot is in the field of detection, and

wherein the portable housing detects the indication to detect the presence of the mobile robot in the field of detection.

12. The method as set forth in claim 11, wherein the robot detects a modulated signal to detect the presence of the mobile robot in the field of detection.

13. The method as set forth in claim 11, wherein the field of detection extends generally linearly from the portable housing on the surface.

14. The method as set forth in claim 13, further comprising:

variably setting, with the portable housing, a length of the field of detection.

15. The method as set forth in claim 13, wherein the mobile robot changes the movement path to prevent the mobile robot from crossing the field of detection in response to detection of the first signal.

16. The method as set forth in claim 11, further comprising:

emitting, with the portable housing, a second signal that is detectable by the mobile robot when the mobile robot moves within a predetermined distance of the portable housing;

detecting, with the mobile robot, the second signal; and

changing, with the mobile robot, the movement path of the mobile robot to prevent the mobile robot from physically contacting the portable housing in response to detection of the second signal.

17. The method as set forth in claim 13, further comprising:

changing, with the portable housing, an on/off status of the portable housing in response to a predetermined condition,

wherein the predetermined condition occurs when at least one of a predetermined time period lapses and a smart house signal is received by the portable housing.

18. The method as set forth in claim 13, further comprising:

detecting, with the mobile robot, a physical contact with a shell of the mobile robot;

detecting, with the mobile robot, a falling edge of the surface as the mobile robot moves toward the falling edge; and

changing, with the mobile robot, the movement path in response to detection of one of the physical contact and the falling edge.

19. A method for confining a mobile robot with a portable housing, the method comprising:

placing the mobile robot in a first area for cleaning the first area;

placing the portable housing between the first area and a second area;

setting a field of detection of the portable housing to extend generally linearly between the first area and the second area;

variably setting a length of the field of detection to separate the first area from the second area;

controlling the portable housing to detect a presence of the mobile robot in the field of detection; and

controlling the mobile robot to automatically move in the first area and to prevent movement into the second area.

20. The method as set forth in claim 19, wherein

the portable housing emits a signal in response to detection of the presence of the mobile robot in the field of detection, and

the mobile robot detects the signal and changes a movement path to prevent the movement into the second area.

21. The method as set forth in claim 19, wherein the portable housing is operable to detect a modulated signal to detect the presence of the mobile robot in the field of detection.

22. The method as set forth in claim 19, wherein

the mobile robot is operable to generate an indication that is detectable by the portable housing when the mobile robot moves in the field of detection, and

the portable housing is operable to detect the indication for detecting the presence of the mobile robot in the field of detection.

23. The method as set forth in claim 19, further comprising:

controlling the portable housing to emit a signal that is detectable by the mobile robot when the mobile robot moves within a predetermined distance of the portable housing,

wherein the mobile robot is operable to detect the signal and change a movement path of the mobile robot to prevent the mobile robot from physically contacting the portable housing in response to detection of the signal.

24. The method as set forth in claim 19, further comprising:

controlling the portable housing to automatically turn off after a predetermined time period.

25. The method as set forth in claim 19, further comprising:

controlling the portable housing to receive a smart house signal that changes an on/off status of the portable housing.

26. The method as set forth in claim 19, wherein

the mobile robot includes a bump sensor operable to detect a physical contact,

the mobile robot includes a cliff sensor operable to detect a falling edge in the first area, and

the mobile robot is operable to change a movement path of the mobile robot in response to detection of one of the physical contact and the falling edge.

27. A robot confinement system, comprising:

a portable housing, including;

a first detector operable to detect a presence of a mobile robot in a field of detection;

an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection; and

a receiver operable to receive a smart house signal that changes an on/off status of the portable housing;

the mobile robot, including;

a shell;

a chassis including at least two wheels;

at least one motor connected to the at least two wheels for moving the mobile robot on a surface;

a cleaner operable to clean the surface as the mobile robot moves on the surface;

a controller operable to control the at least one motor to control a movement path of the mobile robot on the surface; and

a second detector operable to detect the first signal,

wherein the controller is operable to change the movement path of the mobile robot in response to detection of the first signal.

28. A method for confining a mobile robot with a portable housing, the method comprising:

moving the mobile robot along a movement path on a surface and cleaning the surface with the mobile robot;

detecting, with the portable housing, a presence of the mobile robot in a field of detection;

emitting, with the portable housing, a first signal in response to detection of the presence of the mobile robot in the field of detection;

detecting, with the mobile robot, the first signal emitted by the portable housing;

changing, with the mobile robot, the movement path of the mobile robot in response to detection of the first signal; and

changing, with the portable housing, an on/off status of the portable housing in response to a predetermined condition, wherein the predetermined condition occurs when at least one of a predetermined time period lapses and a smart house signal is received by the portable housing.