Robot confinement

• US 8,659,256 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:
  US12/827,126
• Publication Number:
  US 20100312429A1
• Time in Patent Office: 1,336 Days
• Field of Search: 318/567, 318/568.12, 318/16, 901/1
• 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 an emitter operable to emit a first signal when a presence of the robot is detected in a field of detection. The robot includes a controller operable to control a movement path of the robot on a surface and a cleaner operable to clean the surface as the robot moves on the surface. The robot further includes a detector operable to detect the first signal emitted by the portable housing. The controller is operable to change the movement path of the robot in response to detection of the first signal. One of the portable housing and the robot is operable to detect a second signal generated by the other of the portable housing and the robot to detect the presence of the robot in the field of detection.

Claims

1. A robot confinement system, comprising:

a portable housing including an emitter operable to emit a first signal when a presence of a mobile robot is detected in a 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;

a detector operable to detect the first signal;

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

wherein one of the portable housing and the mobile robot is operable to detect a second signal to detect the presence of the mobile robot in the field of detection, the second signal generated by the other of the portable housing and the mobile robot.

2. The robot confinement system as set forth in claim 1, wherein the second signal is the same as the first signal.

3. The robot confinement system as set forth in claim 1, wherein the portable housing includes a detector operable to detect the second signal.

4. The robot confinement system as set forth in claim 3, wherein the mobile robot is operable to generate the second signal.

5. The robot confinement system as set forth in claim 4, wherein the second signal is a modulated signal.

6. 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.

7. The robot confinement system as set forth in claim 6, wherein the portable housing includes a power selector operable to variably set a length of the field of detection.

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

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

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

the detector is operable to detect the third 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 third signal.

10. The robot confinement system as set forth in claim 9, wherein the portable housing includes a second emitter operable to emit the third signal.

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

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

13. A robot confinement system, comprising:

a portable housing including an emitter operable to emit a first signal when a presence of a mobile robot is detected in a field of detection; and

a 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;

a detector operable to detect the first signal;

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 first signal, and 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.

14. The robot confinement system as set forth in claim 13, wherein the field of detection extends generally linearly from the portable housing on the surface.

15. The robot confinement system as set forth in claim 14, wherein the portable housing includes a power selector operable to variably set a length of the field of detection.

16. The robot confinement system as set forth in claim 14, 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.

17. The robot confinement system as set forth in claim 13, 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 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.

18. The robot confinement system as set forth in claim 17, wherein the portable housing includes a second emitter operable to emit the second signal.

19. The robot confinement system as set forth in claim 17, wherein

the first signal and the second signal are distinguishable, and

the controller is operable to selectively change the movement path of the mobile robot based on which of the first signal and the second signal is detected.

20. The robot confinement system as set forth in claim 13, wherein the emitter is operable to automatically turn off after a predetermined time period.

21. The robot confinement system as set forth in claim 13, wherein the portable housing includes a receiver operable to receive a third signal that changes an on/off status of the portable housing.

22. 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;

generating, with one of the portable housing and the mobile robot, a first signal;

detecting, with the other of the portable housing and the mobile robot, the first signal to detect a presence of the mobile robot in a field of detection, the field of detection extending generally linearly from the portable housing;

emitting, with the portable housing, a second signal when the presence of the mobile robot is detected in the field of detection;

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

changing, with the mobile robot, the movement path to prevent the mobile robot from crossing the field of detection in response to detection of the second signal.

23. The method as set forth in claim 22, wherein the first signal is the same as the second signal.

24. The method as set forth in claim 22, wherein the mobile robot generates the first signal and the portable housing detects the first signal.

25. The method as set forth in claim 24, wherein the first signal is a modulated signal.

26. The method as set forth in claim 22, further comprising:

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

27. The method as set forth in claim 22, further comprising:

emitting, by the portable housing, a third signal when the mobile robot moves within a predetermined distance of the portable housing;

detecting, by the mobile robot, the third signal emitted by the portable housing; and

changing, by the mobile robot, the movement path of the mobile robot to move the mobile robot outside the predetermined distance of the portable housing in response to detection of the third signal.

28. The method as set forth in claim 22, 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 fourth signal is received by the portable housing.

29. The method as set forth in claim 22, 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 the physical contact and in response to detection of the falling edge.

30. A robot confinement system, comprising:

a portable housing including an emitter operable to emit a first signal when a presence of a mobile robot is detected in a field of detection, wherein the field of detection extends generally linearly from the portable housing on the surface; 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 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 one of the portable housing and the mobile robot is operable to detect a second signal to detect the presence of the mobile robot in the field of detection, the second signal generated by the other of the portable housing and the mobile robot.

31. A robot confinement system, comprising:

a portable housing including an emitter operable to emit a first signal when a presence of a mobile robot is detected in a field of detection, wherein the field of detection extends generally linearly from the portable housing on the surface; and

a 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 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.